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arXiv · 2603.07795

A Robust Antenna Provides Tactile Feedback in a Multi-legged Robot

Zhaochen J. Xu·Juntao He·Delfin Aydan·Malaika Taylor·Tianyu Wang·Jianfeng Lin·Wesley Dyer·Daniel I. Goldman
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Abstract

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.

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Zhaochen J. Xu, Juntao He, Delfin Aydan, Malaika Taylor, Tianyu Wang, Jianfeng Lin, Wesley Dyer, Daniel I. Goldman. 2026-03-08. A Robust Antenna Provides Tactile Feedback in a Multi-legged Robot. https://arxiv.org/abs/2603.07795

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