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 algorithm to extract contact information for feedback control in stabilizing tasks. A pipeline to convert images of the foot skin into high-level contact information using a deep learning framework is presented. The leg was quantitatively evaluated in a stabilization task on a tilting surface to show that the tactile foot was able to estimate both the surface tilting angle and the foot poses. Feasibility and effectiveness of the tactile system were investigated qualitatively in comparison with conventional single-legged robotic systems using inertia measurement units (IMU). Experiments demonstrate the capability of vision-based tactile sensors in assisting legged robots to maintain stability on unknown terrains and the potential for regulating more complex motions for humanoid robots.
Walking on TacTip toes: A tactile sensing foot for walking robots
EPSRC Centre for Doctoral Training in Future Autonomous and Robotic Systems (FARSCOPE) at the Bristol Robotics Laboratory（布里斯托机器人实验室未来自主与机器人系统博士培训中心）；Dept. of Engineering Maths and Bristol Robotics Laboratory, University of Bristol（布里斯托大学工程数学系与布里斯托机器人实验室）；Dept. of Engineering Maths, University of Bristol（布里斯托大学工程数学系）
Tactile sensing enables vertical obstacle negotiation for elongate many-legged robots
Institute for Robotics and Intelligent Machines（机器人与智能机器研究所）；Georgia Institute of Technology（佐治亚理工学院）；School of Physics（物理系）；School of Mechanical Engineering（机械工程系）；College of Computing（计算学院）
ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots
Istituto Italiano di Tecnologia (IIT)（意大利理工学院）
这项工作是基于视觉的规划策略的足式机器人分离到立足点选择和姿势适应运动规划。目前的姿态自适应策略优化机器人的身体姿势相对于给定的立足点。如果未到达这些立足点，则机器人可能最终处于没有可到达的安全立足点的状态。因此，我们提出了一个基于视觉的地形感知运动（ViTAL）的战略，包括新的姿态适应和立足点选择算法。ViTAL在姿势适应中引入了一种不同的范例，该范例不优化相对于给定立足点的身体姿势，而是最大化腿部到达安全立足点的机会的身体姿势。ViTAL根据机器人的能力和地形感知能力来规划立足点和姿势。我们使用90 kg HyQ和140 kg HyQReal四足机器人来验证ViTAL，并表明它们能够以不同的速度和步态爬上各种障碍物，包括楼梯，间隙和粗糙的地形。我们比较ViTAL与基线策略，选择机器人姿势的基础上，给定选定的立足点，并显示ViTAL优于基线。
Robust State Estimation for Legged Robots with Dual Beta Kalman Filter
Tsinghua University（清华大学）；Peking University（北京大学）；SunRising AI Ltd（旭日人工智能有限公司）；College of Engineering, Peking University（北京大学工学院）；School of Vehicle and Mobility, Tsinghua University（清华大学车辆与运载学院）；State Key Laboratory of Intelligent Green Vehicle and Mobility, Tsinghua University（清华大学智能绿色车辆与交通全国重点实验室）；College of Artificial Intelligence, Tsinghua University（清华大学人工智能学院）
SlipSense: Multimodal Sensing for Online Slip Detection in Legged Robots
School of Electrical and Electronic Engineering, Nanyang Technological University（南洋理工大学电气与电子工程学院）；Institute for Infocomm Research, Agency for Science Technology and Research（资讯通信研究院，科技研究局）
Istituto Italiano di Tecnologia（意大利技术研究院）；Università degli Studi di Genova（热那亚大学）；Swiss Federal Institute of Technology at Lausanne（洛桑联邦理工学院）；University of Texas（德克萨斯大学）；University of Naples Federico II（那不勒斯费德里科二世大学）
Soft Adaptive Feet for Legged Robots: An Open-Source Model for Locomotion Simulation
Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia（人类合作与康复软机器人，意大利技术研究院）；Humanoids and Human Centered Mechatronics, Fondazione Istituto Italiano di Tecnologia（人形与以人类为中心的机电一体化，意大利技术研究院）；Department of Bioengineering, Imperial College London（生物工程系，伦敦帝国理工学院）
Terrain-Aware Quadrupedal Locomotion via Reinforcement Learning
Tencent Robotics X（腾讯Robotics X）；The Chinese University of Hong Kong（香港中文大学）；Southern University of Science and Technology（南方科技大学）；University of Alberta（阿尔伯塔大学）
An End-to-End Framework for Optimizing Foot Trajectory and Force in Dry Adhesion Legged Wall-Climbing Robots
The School of Mechanical Engineering and Automation, Northeastern University（机械工程与自动化学院，东北大学）；The State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University（过程工业综合自动化重点实验室，东北大学）
A Foot Resistive Force Model for Legged Locomotion on Muddy Terrains
Department of Mechanical and Aerospace Engineering, Rutgers University（罗格斯大学机械与航空航天工程系）；Department of Electrical and Biomedical Engineering, University of Nevada（内华达大学电气与生物医学工程系）
Tightly-Coupled LiDAR-IMU-Leg Odometry with Online Learned Leg Kinematics Incorporating Foot Tactile Information
Space Robotics Lab., Dept. Aerospace Eng., Tohoku University, Japan（东京东京大学航空航天工程系空间机器人实验室，日本）；Dept. of Information Technology and Human Factors, the National Institute of Advanced Industrial Science and Technology, Japan（日本国家先进工业科学和技术研究院信息科技与人因系）
M3D-skin: Multi-material 3D-printed Tactile Sensor with Hierarchical Infill Structures for Pressure Sensing
Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo（机械信息学系，信息科学和技术研究生院，东京大学）；AI Center, Graduate School of Information Science and Technology, The University of Tokyo（人工智能中心，信息科学和技术研究生院，东京大学）
