ɪn mˈɛnɪəv ðə "bˈoʊ lˈɛɡ" ɛkspˈɛɹɪmənts ðæt ɑːɹ kəndˈʌktᵻd ɪŋklˈuːdɪŋ ðə wˈʌnz ɹˈɛfɹənst hˈɪɹ, ðə plˈænɚɹ ɪz ɐsˈuːmɪŋ ðæt ðeɪ ɔːlɹˌɛdi nˈoʊ bˈoʊθ ðə dʒiˈɑːmətɹi ænd fɹˈɪkʃən kˌoʊɪfˈɪʃənt ʌvðə tɚɹˈeɪn.
In many of the "bow leg" experiments that are conducted (including the ones referenced here), the planner is assuming that they already know both the geometry and friction coefficient of the terrain.