Understanding the terrain in the upcoming path of a ground robot is one of the most
challenging problems in field robotics. Terrain and traversability analysis is a …

Future lunar/planetary exploration missions will demand mobile robots with the capability of
reaching more challenging science targets and driving farther per day than the current Mars …

For small legged robots, ground contact interactions significantly affect the dynamics and
locomotion performance. In this article, we designed thin, robust capacitive tactile sensors …

This paper presents a new methodology where machine learning is used for detecting
various levels of slip in the context of planetary exploration robotic missions. This …

The future challenge for field robots is to increase the level of autonomy towards long
distance (> 1 km) and duration (> 1h) applications. One of the key technologies is the ability …

This paper describes a tactile probe designed for surface identification in a context of all-
terrain low-velocity mobile robotics. The proposed tactile probe is made of a small metallic …

This paper describes a walking robot controller for negotiation of terrains with different
traction characteristics. The feedback is based on three perception systems. The purpose of …

We present the design and implementation of a miniature tactile sensing array for ground
reaction force measurements in small legged robots. Dynamic ground pressure data from …

Terrain classification is a critical component of any autonomous mobile robot system
operating in unknown real-world environments. Over the years, several proprioceptive …

In this paper, we are presenting a method to estimate terrain properties (such as small-scale
geometry or surface friction) to improve the assessment of stability and the guiding of foot …