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| Main Authors: | , , , , , , , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2603.07795 |
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| _version_ | 1866911498356391936 |
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| author | Xu, Zhaochen J. He, Juntao Aydan, Delfin Taylor, Malaika Wang, Tianyu Lin, Jianfeng Dyer, Wesley Goldman, Daniel I. |
| author_facet | Xu, Zhaochen J. He, Juntao Aydan, Delfin Taylor, Malaika Wang, Tianyu Lin, Jianfeng Dyer, Wesley Goldman, Daniel I. |
| contents | Multi-legged elongate robots hold promise for maneuvering through complex environments. Prior work has demonstrated that reliable locomotion can be achieved using open-loop body undulation and foot placement on rugose terrain. However, robust navigation through confined spaces remains challenging when body-environment contact is extensive and terrain rheology varies rapidly. To address this challenge, we develop a pair of tactile antennae for multi-legged robots that enable real-time sensing of surrounding geometry, modeling the morphology and function of biological centipede antennae. Each antenna features gradient compliance, with a stiff base and soft tip, allowing repeated deformation and elastic recovery. Robophysical experiments reveal a relationship between continuous antenna curvature and contact force, leading to a simplified mapping from antenna deformation to inferred discrete collision states. We incorporate this mapping into a controller that selects among a set of locomotor maneuvers based on the inferred collision state. Experiments in obstacle-rich and confined environments demonstrate that tactile feedback enables reliable steering and allows the robot to recover from near-stuck conditions without requiring global environmental information or real-time vision. These results highlight how mechanically tuned tactile appendages can simplify sensing and enhance autonomy in elongate multi-legged robots operating in constrained spaces. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_07795 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | A Robust Antenna Provides Tactile Feedback in a Multi-legged Robot Xu, Zhaochen J. He, Juntao Aydan, Delfin Taylor, Malaika Wang, Tianyu Lin, Jianfeng Dyer, Wesley Goldman, Daniel I. Robotics Multi-legged elongate robots hold promise for maneuvering through complex environments. Prior work has demonstrated that reliable locomotion can be achieved using open-loop body undulation and foot placement on rugose terrain. However, robust navigation through confined spaces remains challenging when body-environment contact is extensive and terrain rheology varies rapidly. To address this challenge, we develop a pair of tactile antennae for multi-legged robots that enable real-time sensing of surrounding geometry, modeling the morphology and function of biological centipede antennae. Each antenna features gradient compliance, with a stiff base and soft tip, allowing repeated deformation and elastic recovery. Robophysical experiments reveal a relationship between continuous antenna curvature and contact force, leading to a simplified mapping from antenna deformation to inferred discrete collision states. We incorporate this mapping into a controller that selects among a set of locomotor maneuvers based on the inferred collision state. Experiments in obstacle-rich and confined environments demonstrate that tactile feedback enables reliable steering and allows the robot to recover from near-stuck conditions without requiring global environmental information or real-time vision. These results highlight how mechanically tuned tactile appendages can simplify sensing and enhance autonomy in elongate multi-legged robots operating in constrained spaces. |
| title | A Robust Antenna Provides Tactile Feedback in a Multi-legged Robot |
| topic | Robotics |
| url | https://arxiv.org/abs/2603.07795 |