# Video supplementary Tactile End Effectors for Legged Robotic Locomotion: From Design to Control These videos are licensed under CC BY-NC-ND 4.0. https://creativecommons.org/licenses/by-nc-nd/4.0/ © Thijs Van Hauwermeiren, 2025 Commercial usage is not allowed. Remixing is not allowed. Attribution is required. These videos are supplementary material to the PhD thesis of Thijs Van Hauwermeiren The video supplementary material is categorized according to the corresponding chapters in the PhD. The content of the videos is briefly described below. ### C1: Introduction `1_c1_intro_go1_tall_grass_po.mp4`: observation of unitree Go1 walking in tall grass, using the standard feet and standard locomotion controller. The legged robot traverses the terrain without problem. `2_c1_intro_go1_obstacle_po.mp4`: observation of unitree Go1 walking using the standard feet and standard (blind) locomotion controller while encountering a small obstacle. The front right foot slips, destabilizing the robot and performing a series of unsafe behaviours, ultimately, the robot manages to recover although the obstacle was not traversed. `3_c1_intro_cat_walk_beam.gif`: observation of an animal (cat) walking and balancing on a narrow, rounded beam. Slowed down (x4). ### C2: Dynamics `1_c2_go1_jump_sim_po.mp4`: Unitree Go1 performing a dynamic jump in a simulator using trajectory optimization. `2_c2_go1_jump_po.mp4`: Unitree Go1 performing a dynamic jump using trajectory optimization. `3_c2_compass_gait_walker_po.mp4`: Simulation in Drake of the compass gait walker stepping down a hill. ### C3: Hemi-spherical prototype `1_c3_video_presentation_po.mp4`: contains the supplementary video of T. Van Hauwermeiren, A. Sianov, A. Coene and G. Crevecoeur, “Integrated Barometric Pressure Sensors on Legged Robots for Enhanced Tactile Exploration of Edges,” in IEEE Robotics and Automation Letters, vol. 9, no. 7, pp. 6368-6375, July 2024. A transcript is provided as well. It contains the videos for each of the experiment presented in this chapter ### C4: Wheel-shaped prototype `1_c4_single_poke1_po.mp4`: demonstration of Tweelie in single contact, showing the graph-based detection algorithm. `2_c4_single_poke2_po.mp4`: demonstration of Tweelie poked by a finger, showing the graph-based detection algorithm. `3_c4_graph_po.mp4`: demonstration of Tweelie in constant contact, while additionally poked by a finger. Demonstrates how the graph algorithm handles multiple contacts. Note that when the poke is near the constant contact, it is registered (correctly) as a single contact. `4_c4_pdf_po.mp4`: demonstration of Tweelie poked by a finger, showing the probability density function of the bivariate wrapped normal distribution. `5_c4_pitch_po.mp4`: demonstration of Tweelie rolls forward, the mean vector of the probability density function is used to predict the current pitch angle. `6_c4_roll_po.mp4`: demonstration of Tweelie rolls sideways, the mean vector of the probability density function is used to predict the current roll angle. `7_c4_force_po.mp4`: demonstration of Tweelie force reconstruction (z-component) in real time. `8_c4_durability_po.mp4`: video of impact testing of sensor, a trial consisted of 2000 high force impacts. ### C5: Tactile admittance controller `1_c5_static_balance_po.mp4`: Static balance experiment; Unitree A1 with tactile admittance control activated. The front right foot is disturbed by a cantilever. The robot maintains stability. `2_c5_exp_trip_adm5_clipped_po.mp4`: Dynamic balance experiment; Unitree A1 with tactile admittance control activated performs the bound gait forward, jumping off the platform. With the tactile controller activated, it remains stable. Clipped version. `3_c5_exp_trip_adm5_po.mp4`: Dynamic balance experiment; Unitree A1 with tactile admittance control activated performs the bound gait forward, jumping off the platform. With the tactile controller activated, it remains stable. Long version. `4_c5_exp_trip_pd5_clipped_po.mp4`: Dynamic balance experiment; Unitree A1 with tactile admittance control deactivated performs the bound gait forward, jumping off the platform. With the tactile controller deactivated, the robot trips, stopped by the operator. Clipped version. `5_c5_exp_trip_pd5_po.mp4`: Dynamic balance experiment; Unitree A1 with tactile admittance control deactivated performs the bound gait forward, jumping off the platform. With the tactile controller deactivated, the robot trips, stopped by the operator. Long version. `6_c5_adm_bound_po.mp4`: Unitree A1 performing the bound gait on flat terrain with tactile admittance control activated. `7_c5_walk1_po.mp4`: Terrain exploration experiment; Unitree Go1 walking with four tactile feet on concrete floor. `8_c5_walk2_po.mp4`: Terrain exploration experiment; Unitree Go1 walking with four tactile feet on asphalt outdoor.