New video on our YouTube channel on"Enhancing Biped Locomotion on Unknown Terrain Using Tactile Feedback"


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.