Quadrupedal locomotion on uneven terrain with sensorized feet

Video submission for ICRA 2020: Quadrupedal locomotion on uneven terrain with sensorized feet Paper: Paper Abstract: Sensing of the terrain shape is crucial for legged robots deployed in the real world since the knowledge of the local terrain inclination at the contact points allows for an optimized force distribution that minimizes the risk of slipping. In this letter, we present a reactive locomotion strategy for torque controllable quadruped robots based on sen