2020
Exploiting Adaptability in Soft Feet for Sensing Contact Forces
Domenico Mura, Cosimo Della Santina, Cristina Piazza, Irene Frizza, Cecilia Morandi, Manolo Garabini +2
RA-L 2020
The large majority of legged robots currently employ ball-feet or flat-feet. More recently soft feet have been introduced, to improve walking performance on uneven grounds. Nevertheless, their novel adaptability requires sensor systems beyond traditional Force/Torque sensors to estimate the distribu