Humanoid robots hold tremendous potential for deployment in hazardous environments, undertaking tasks too perilous for humans. However, their effective utilization in environments such as forests, mines, and construction sites requires robust navigation capabilities across diverse terrains. While contemporary humanoid robots excel in urban environments, they often struggle with traversing granular media, icy surfaces, and other challenging landscapes. Moreover, the ability to perceive and adapt to terrain becomes paramount in disaster scenarios where visibility is compromised.

The Multi-Sensing Foot Development Project endeavors to address these critical challenges by engineering specialized feet equipped with an array of sensors capable of detecting various terrain types. By integrating cutting-edge sensor technologies, including capacitive sensors, microphones, accelerometers, and tactile sensors, into the design of humanoid robot feet, we aim to enhance their adaptability and agility across a spectrum of environments.

The purpose of this project is to design a strong and durable multi-sensor foot that can withstand the impact forces encountered during locomotion and maintain its foot-sensing function for long durations of walking.