Prototyping, development, and analysis of different contact detection methods for bipeds and quadrupeds

Bipedal and quadruped robots are advancing rapidly, showcasing remarkable abilities in traversing complex terrains and executing diverse tasks. Central to their performance is the accurate detection of foot-toground contact, crucial for maintaining stability and balance. Particularly in challenging environments such as steep slopes and rough terrain.
This thesis focuses on exploring and comparing various sensor-based methods for detecting foot-to-ground contact in both bipedal and quadruped robots. Thesis aims to assess the accuracy, robustness, and computational efficiency of these methods. The approach involves conducting a comprehensive literature review to identify and understand existing techniques. Promising methods will then be selected for further examination and comparison. Additionally, the study will involve designing and fabricating a suitable foot structure to integrate with the chosen detection methods.
Through rigorous experimental validation and comparative analysis, thesis seeks to provide valuable insights into the most effective approach for foot-to-ground contact detection.