The value of contact in legged locomotion: a survey of sensing channels, artificial intelligence and control

Legged robots traverse unstructured terrain through brief, intermittent foot–ground contacts whose support conditions are difficult to perceive and predict in real time. In such regimes, haptic feedback provides early and trustworthy evidence of traction limits, partial support, and incipient slip. This structured survey asks two questions: first, what locomotion-relevant contact evidence can be acquired and preserved under real deployment constraints; and second, how that evidence is translated

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ethics.ai (19 July 2026), “The value of contact in legged locomotion: a survey of sensing channels, artificial intelligence and control,” evidence record 11795, https://ethics.ai/record/11795 (originally published by Artificial Intelligence Review).

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