Abstract: An example implementation may involve receiving, by a robot comprising a first foot and a second foot, sensor data indicating that a force has been applied to a top surface of the first foot. The robot may have a trajectory, and the sensor data may be received from a sensor positioned on the top surface of the first foot. In response to receiving the sensor data, the robot may determine an updated trajectory for the robot and cause the second foot to swing such that the robot moves according to the updated trajectory.

Abstract: An example implementation may involve a robot foot having a bottom surface and an edge portion extending around at least a portion of a perimeter of the foot, where the edge portion meets the bottom surface at the perimeter, where the edge portion surrounds a volume extending from the bottom surface of the foot to a top surface of the edge portion, and where the edge portion of the foot is composed of a first material. The foot may also include an interior portion located adjacent to the edge portion, where the interior portion of the foot fills the volume, and where the interior portion is composed of a second material that is more compliant than the first material.

Abstract: An implementation may involve causing a foot of a robot to orient in a first position, where the foot comprises a sole configured to contact a surface, where the sole comprises a first edge and a second edge, and where in the first position: (i) the first edge contacts the surface, and (ii) a zero moment point (ZMP) is located on the first edge; receiving, from a force sensor, (i) first force data indicative of a first force and (ii) first moment data indicative of a first moment; determining a calibration of the force sensor based at least in part on the first force data, the first moment data, and a distance between the ZMP and a measurement location on the robot; and while the robot is engaged in bipedal movement, controlling the bipedal movement of the robot based at least in part on the calibration.

Abstract: Disclosed are robotic systems, methods, bipedal robot devices, and computer-readable mediums. For example, a robotic system may include a robotic leg connected to a main body and a robotic foot. A robotic sole joint may be connected to the robotic leg, where the robotic sole joint is located at a sole of the robotic foot. The robotic leg and the robotic foot may be movable around an axis of rotation defined by the robotic sole joint. A movement around the axis may cause a ZMP to shift from a first location to a second location in the robotic foot. A measure of force applied by the robotic sole joint around the axis may be approximately equal to zero.

Abstract: Disclosed are robotic systems, methods, bipedal robot devices, and computer-readable mediums. For example, a robotic system may include a robotic body, a robotic hip connected to the robotic body, a robotic leg connected to the robotic hip. Further, the robotic system may include a first robotic foot that is connected to one end of the robotic leg and a second robotic foot is connected to an opposite end of the robotic leg. Yet further, the robotic leg may be fully rotatable around an axis of rotation defined by the robotic hip. In addition, the robotic hip may be linearly movable along the robotic leg to one or more positions between the one end of the robotic leg and the opposite end of the robotic leg.