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In this paper, we present a novel control architecture for the onlineadaptation of bipedal locomotion on inclined obstacles. In particular, weintroduce a novel, cost-effective, and versatile foot sensor to detect theproximity of the robot's feet to the ground (bump sensor). By employing thissensor, feedback controllers are implemented to reduce the impact forces duringthe transition of the swing to stance phase or steeping on inclined unseenobstacles. Compared to conventional sensors based on contact reaction force,this sensor detects the distance to the ground or obstacles before the foottouches the obstacle and therefore provides predictive information toanticipate the obstacles. The controller of the proposed bump sensor interactswith another admittance controller to adjust leg length. The walkingexperiments show successful locomotion on the unseen inclined obstacle withoutreducing the locomotion speed with a slope angle of 12. Foot position errorcauses a hard impact with the ground as a consequence of accumulative errorcaused by links and connections' deflection (which is manufactured byuniversity tools). The proposed framework drastically reduces the feet' impactwith the ground.

Online Bipedal Locomotion Adaptation for Stepping on Obstacles Using a Novel Foot Sensor