A Tactile Sensing Foot for Single Robot Leg Stabilization
Guanlan Zhang Yipai Du Yazhan Zhang Michael Yu Wang Guanlan Zhang Yipai Du Yazhan Zhang Michael Yu Wang
Tactile sensing on human feet is crucial for motion control, however, has not been explored in robotic counterparts. This work is dedicated to endowing tactile sensing to legged robot’s feet and showing that a single-legged robot can be stabilized with only tactile sensing signals from its foot. We propose a robot leg with a novel vision-based tactile sensing foot system and implement a processing...