# HAPTR2: Improved Haptic Transformer for legged robots’ terrain classification

> Research article (Robotics and Autonomous Systems, 2022) · cited 15× · AI/ML

**Wikidata**: [openalex:W4292622226](https://www.wikidata.org/wiki/openalex:W4292622226)  
**Source**: https://4ort.xyz/entity/haptr2-improved-haptic-transformer-for-legged-robots-terrain-classification