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Legged systems need to optimize contact force in order to maintain contacts.For this, the controller needs to have the knowledge of the surface geometryand how slippery the terrain is. We can use a vision system to realize theterrain, but the accuracy of the vision system degrades in harsh weather, andit cannot visualize the terrain if it is covered with water or grass. Also, thedegree of friction cannot be directly visualized. In this paper, we propose anonline method to estimate the surface information via haptic exploration. Wealso introduce a probabilistic criterion to measure the quality of theestimation. The method is validated on both simulation and a real robotplatform.

Contact Surface Estimation via Haptic Perception