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Sensing terrain parameters and the characteristics of vehicle-terrain interaction using the multimode locomotion system of a robot

This paper describes methods for determining the quality of terrain, while driving, with a mobile robot that can measure the vertical, horizontal and rotational strain forces affecting its wheels or feet. These methods are all sense-by-touch, and can be used to calculate various parameters relating to the interaction between the robot and terrain, and the geometry of the terrain. The parameters can then be used for mapping, path planning or determining suitable modes of locomotion.