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In the above mentioned article, due to a systematic error measuring angular position, the penetration force during rotational intrusion, Fp(θ), was misreported in Fig. 4b. Correcting the error shifts the angle of peak force (β0) from −0.5 to −0.75 and increases the maximum value of the force increases by 4% (see figure). Model calculations dependent on Fp(θ) change slightly with the correction (using β0=−0.75 and k’=65 N/m) and remain qualitatively unchanged as do the conclusions of the paper.

Erratum to: The Effect of Limb Kinematics on the Speed of a Legged Robot on Granular Media