Estimation of fragile ground by foot pressure sensor of legged robot

This paper reports several results from estimation experiments by using our new foot sensor, which is composed of a sole sensor and a rubbing mechanism for rubble walking robot. The sensor can measure every ground point's reactive force by pressing robot's legs against the ground in a given angle. There is not only stable ground but klunky ground or transformable ground or breakable ground in rubble space. Some results of our experiment shows that subtle differences are expressed by using COF (center of force) and pressure changes.