关键词：触觉传感器;爬行机器人;传感功能
摘 要：Legged millirobots, like the biological organisms that they mimic, can readily adapt to a va-riety of complex environments. These robots can operate in rough terrain, con ned spaces，and in the presence of obstacles such as foliage. This versatility makes legged millirobotsan ideal solution to tasks requiring high maneuverability in dicult and uncertain environments. Examples might include searching through wreckage in the aftermath of naturaldisasters, or performing inspection and maintenance tasks within the interiors of buildingsand other structures. Ideally, many of these tasks would be completed either autonomouslyor semi-autonomously, allowing human operators to focus on higher-level organization andcontrol. In order to operate e ectively without constant human guidance, legged millirobotsmust be equipped with adequate sensing capabilities to characterize and respond to their surroundings.