Multi-segmented Adaptive Feet for Versatile Legged Locomotion in Natural Terrain
Abhishek Chatterjee,An Mo,Bernadett Kiss,Emre Cemal Gönen,Alexander Badri-Spröwitz,Abhishek Chatterjee,An Mo,Bernadett Kiss,Emre Cemal Gönen,Alexander Badri-Spröwitz
Most legged robots are built with leg structures from serially mounted links and actuators and are controlled through complex controllers and sensor feedback. In comparison, animals developed multi-segment legs, mechanical coupling between joints, and multi-segmented feet. They run agile over all terrains, arguably with simpler locomotion control. Here we focus on developing foot mechanisms that r...
