The video "Enhancing Biped Locomotion on Unknown Terrain Using Tactile Feedback" shows that the robot skin can enhance and complement the ankle force-torque sensors used in balancing and walking controllers by providing additional information that a force-torque sensor cannot produce. This additional information can be used to reconstruct the supporting polygon and the pressure footprint online. We present a case study where a force-torque sensor fails to detect the terrain conditions while the skin succeeds and the information is used to re-plan the footstep position.
J. Rogelio Guadarrama-Olvera, F. Bergner, E. Dean and G. Cheng, "Enhancing Biped Locomotion on Unknown Terrain Using Tactile Feedback," 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018, pp. 1-9, doi: 10.1109/HUMANOIDS.2018.8625024.