Adaptive Legged Locomotion

Legged robots can maneuver on challenging terrains, such as sand, and rocks, where the wheeled robot can not easily operate. TML aims to enhance the efficiency and effectiveness of the legged robots on these terrains by developing robotic hardware, sensors, and contact models. 

Adaptive Legged Locomotion on Challenging Terrains

We developed a small hexapod robot that is equipped with tactile sensor arrays on its feet. Spatial and temporal information from the tactile sensor identifies the terrain type and the robot changes the locomotion accordingly to enhance efficiency and stability.

Related Paper: Huh, Tae Myung*, Wu, X. Alice*, Aaron Sabin, Srinivasan A. Suresh, and Mark R. Cutkosky. “Tactile sensing and terrain-based gait control for small legged robots.” IEEE Transactions on Robotics 36, no. 1 (2019): 15-27. (* equal contribution) (URL)