The next Doctoral Research Seminar is titled "Contact Stability Control for Stepping Over Partial Footholds Using Plantar Tactile Feedback" by Julio Rogelio Guadarrama Olvera, ICS/TUM
Tactile sensors and robot skins provide spatial information on the physical interaction forces. Tactile feedback can improve the capabilities of robotic systems and control methods. This work focuses on improving walking control with plantar tactile sensation. We used Multi-modal plantar robot skin to enable walking on uneven terrain. The tactile feedback is directly introduced as constraints for walking and balance control. Plantar tactile information helps compute the ZMP and the supporting polygon. This information hepls adapt online the walking motions for stepping on unexpected obstacles, including small-size footholds. We tested the methods in two full-size humanoid robots running different walking controllers.