Tactile Force Sensing for Admittance Control on a Quadruped Robot

Ground reaction forces (GRFs) are the primary interaction forces that enable a legged robot to maintain balance and perform locomotion. Most quadruped robot controllers estimate GRFs indirectly using joint torques and a kinematic model, which depend on assumptions and are highly sensitive to modeling errors. In contrast, direct sensing of contact forces at the feet provides more accurate and immediate feedback. Beyond force magnitude, tactile sensing also enables richer contact interpretation, such as detecting force direction and surface properties. In this work, we show how tactile sensor information can be used inside the feedback of the control loop to achieve compliance of legged robots during ground contact. The three main contributions are (i) a fast and computationally efficient 3D force reconstruction method tailored for spherical tactile sensors, (ii) a tactile admittance controller that adjusts leg motions to achieve the desired GRFs and compliance, and (iii) experimental validation on a quadruped robot, demonstrating enhanced load distribution and balance during external perturbations and locomotion. The results show that the peak ground reaction forces were reduced by 55% while balancing on a beam. During a locomotion scenario involving sudden touchdown after a fall, the tactile admittance controller reduced oscillations and regained stability compared to proportional–derivative (PD) control.