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Adaptive Feet for Quadrupedal Walkers
2021
IEEE Transactions on robotics
The vast majority of state-of-the-art walking robots employ flat or ball feet for locomotion, presenting limitations while stepping on obstacles, slopes, or unstructured terrain. Moreover, traditional feet for quadrupeds lack sensing systems that are able to provide information about the environment and about the foot interaction with the surroundings. This further diminishes their value. Inspired by our previous work on soft feet for bipedal robots, we present the SoftFoot-Q, an articulated
doi:10.1109/tro.2021.3088060
fatcat:ddlchwxvsbgufigi4l77onvck4