FootTile sensor for legged robots dropping into mud

29 October 2021

00:38

We develop the FootTile sensor for rugged sensing of center of pressure and ground reaction forces in natural substrates and outdoor terrains. Here shown high speed video footage of four FootTiles mounted to an elastic leg dropping into a soft ground (mud). In our paper below we compare externally measured ground reaction forces with the FootTile-measured forces. https://arxiv.org/abs/2005.09025 Ruppert, Felix, and Alexander Badri-Spröwitz. “FootTile: A Rugged Foot Sensor for Force and Center of Pressure Sensing in Soft Terrain.” In 2020 IEEE International Conference on Robotics and Automation (ICRA), 4810–16. IEEE, 2020. https://doi.org/10.1109/ICRA40945.2020.9197466.