This project focuses on a sophisticated lower limb system for a multi-legged robot to demonstrate the benefits of actuated multi-point contact feet. The sensors used include the pressure sensor array of 43 individual FSR sensors, six additional FSR sensors are located on exposed parts used for collision detection, a 6-axis force/cut sensor, a distance sensor in the heel to anticipate heel strike, a 3-axis digital accelerometer to sense the orientation of the structure.

Furthermore, to increase the mobility towards a so-called multi-locomotion system, the rigid connection between the front and rear body will be replaced by an actuated spine. The mechanism is a 6 DoF parallel kinematic mechanism. The spine struts are arranged in such a way that only compressive and tension forces occur. Therefore, a single-axis load cell can be integrated inline with each strut. Due to the electronics integrated in the spine, the overall structure can be used as a 6-axis force-torque sensor.