The ability of bipedal robots to adapt to diverse and unstructured terrain conditions is crucial for their deployment in real-world environments. To this end, we present a novel, bio-inspired robot foot design with stabilizing tarsal segments and a multifarious sensor suite involving acoustic, capacitive, tactile, temperature, and acceleration sensors. A real-time signal processing and terrain classification system is developed and evaluated. The sensed terrain information is used to control actuated segments of the foot, leading to improved ground contact and stability. The proposed framework highlights the potential of the sensor-integrated adaptive foot for intelligent and adaptive locomotion.

翻译：双足机器人在多样化非结构化地形条件下自适应能力是其在实际环境中部署的关键。为此，我们提出了一种新型仿生机器人足部设计，该设计包含稳定跗骨分段及配备声学、电容式、触觉、温度和加速度传感器的多元传感套件。我们开发并评估了一套实时信号处理与地形分类系统。感知地形信息被用于控制足部活动段，从而改善地面接触与稳定性。所提出的框架彰显了集成传感器的自适应足部在智能自适应运动中的潜力。