THING · Project

Touch-Sensing Legs That Let Robots Walk Safely on Unstable Ground

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thing-h2020.eu

Imagine a robot dog that can feel the ground under its feet the way you do when you walk across a rocky beach in the dark. Right now, most walking robots rely on cameras and lasers to see where they're going — but underground or in dusty, smoky conditions, those sensors go blind. THING gave these robots a sense of touch in their feet, so they can detect whether the ground is slippery, crumbling, or solid before committing their weight. Think of it as giving robots the same instinct you use when you test a wobbly step before putting your full foot down.

By the numbers

EUR 4,071,685

EU research investment in haptic robot locomotion

consortium partners across 4 countries

demonstrated hardware prototypes (ankle joints and soles)

industry partners in consortium

total project deliverables completed

The business problem

What needed solving

Companies operating in underground mines, disaster zones, or degraded infrastructure need robots that can navigate terrain too dangerous for humans. Current robots depend on cameras and lidar, which become unreliable in dust, smoke, darkness, or flooded conditions. Without the ability to sense ground stability, friction, and surface conditions through touch, these robots stumble, fall, and fail precisely where they are needed most.

The solution

What was built

The project built first prototypes of three key hardware components: active ankle joints that adapt in real time, passive ankle joints with rigid soles for stable footing, and combined passive-active soles that let quadrupedal robots sense terrain through touch. These plug into legged robot platforms alongside existing lidar and vision systems.

Audience

Who needs this

Underground mining companies needing autonomous inspection robotsPipeline and tunnel operators inspecting hard-to-reach infrastructureDefense contractors developing all-terrain reconnaissance robotsSearch-and-rescue equipment manufacturers building disaster response platformsRobotics companies developing next-generation quadrupedal platforms

Business applications

Who can put this to work

Mining & Underground Operations

enterprise

Target: Mining companies operating deep underground mines

If you are a mining operator dealing with unsafe underground conditions where human inspectors risk their lives — this project developed touch-sensing robotic legs with active ankle joints that let quadrupedal robots navigate unstable mine floors. The robot can feel whether ground is crumbling or stable before stepping, reducing the need to send workers into dangerous areas. Built across 8 partners with 3 industry collaborators, these prototypes were designed for exactly the kind of rough, dark terrain found in mines.

Infrastructure Inspection

mid-size

Target: Utilities and pipeline operators managing underground networks

If you are a utility company struggling to inspect aging tunnels, sewers, or underground cable networks — this project built prototype robotic feet with passive and active soles that detect friction and ground stability. Unlike wheeled robots that get stuck on debris, these four-legged platforms climb over obstacles while sensing terrain conditions. The system combines haptic data with lidar and vision for reliable navigation even in low-visibility environments.

Disaster Response & Defense

any

Target: Emergency services and defense contractors needing search-and-rescue robots

If you are a disaster response agency that needs robots to search collapsed buildings where cameras are useless due to dust and smoke — this project developed haptic perception for legged robots that lets them feel their way through rubble. The active ankle joints adjust in real time to shifting debris, while the soles detect whether surfaces can bear weight. With 5 university research groups contributing, this represents cutting-edge terrain sensing for the most challenging environments.

Frequently asked

Quick answers

What would it cost to integrate this touch-sensing technology into our existing robots?

The project operated on a EUR 4,071,685 EU budget across 8 partners over nearly 4 years. Licensing or integration costs are not publicly specified. Based on available project data, the technology is still at prototype stage, so commercial pricing has not been established yet. Interested companies should contact the University of Edinburgh coordinator for licensing discussions.

Can this scale to a fleet of robots for industrial use?

The project produced first prototypes of both active and passive ankle joints and soles for quadrupedal robots. Scaling to production volumes would require further engineering, as these are research prototypes validated in lab and controlled conditions. The involvement of 3 industry partners suggests the consortium considered industrial requirements during development.

What is the IP situation — can we license this technology?

The project was funded under Horizon 2020 as a Research and Innovation Action (RIA). IP is typically owned by the consortium partners who generated it, led by the University of Edinburgh. Licensing terms would need to be negotiated directly with the relevant partner holding the specific IP (foot design, control algorithms, or sensor integration).

How does this compare to existing robot sensing — do we really need touch?

Current legged robots rely primarily on lidar and vision, which fail in dust, smoke, darkness, and underground conditions. THING added haptic perception that detects friction and ground stability — properties that are difficult or impossible to assess through vision alone. This is a complementary capability, not a replacement for existing sensors.

What was actually demonstrated and how mature is the technology?

The project delivered first prototypes of active ankle joints, passive ankle joints with rigid soles, and combined passive-active soles — 3 demonstrated hardware components out of 10 total deliverables. These are functional prototypes that have been built and tested, but they are not yet production-ready commercial products.

Which regulations or standards apply to deploying robots with this technology?

Based on available project data, specific regulatory compliance was not detailed in the deliverables. Underground mining robots typically fall under machinery directives and ATEX regulations for explosive atmospheres. Any deployment would need to meet relevant safety standards for the specific industry and jurisdiction.

Consortium

Who built it

The THING consortium brings together 8 partners from 4 countries (UK, Italy, Switzerland, Poland), with a 38% industry ratio — meaning over a third of the team comes from companies, not just universities. This is a strong signal that the technology was developed with real-world applications in mind. The University of Edinburgh leads a group of 5 universities providing the research muscle, while 3 industry partners (including 1 SME) contributed practical engineering know-how. For a business considering this technology, the industry involvement means the prototypes were shaped by commercial thinking, though the university-heavy balance confirms this is still closer to research than to a product launch.

THE UNIVERSITY OF EDINBURGHCoordinator · UK
POLITECHNIKA POZNANSKAparticipant · PL
QBROBOTICS SRLparticipant · IT
KGHM CUPRUM SPOLKA Z OGRANICZONA ODPOWIEDZIALNOSCIA - CENTRUM BADAWCZO- ROZWOJOWEparticipant · PL
UNIVERSITA DI PISAparticipant · IT
EIDGENOESSISCHE TECHNISCHE HOCHSCHULE ZUERICHparticipant · CH
THE CHANCELLOR, MASTERS AND SCHOLARS OF THE UNIVERSITY OF OXFORDparticipant · UK

How to reach the team

The coordinator is the University of Edinburgh (UK). SciTransfer can facilitate an introduction to discuss licensing or collaboration.

Order a report on this consortium See THE UNIVERSITY OF EDINBURGH profile →

Next steps

Talk to the team behind this work.

Want to explore how touch-sensing robot legs could work in your operations? SciTransfer connects businesses with EU research teams — we handle the introductions so you can focus on evaluating the technology.

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