Foot Contact Sensors

[Matt Williamson]

I'm really loving champ. I've tried a lot of different frameworks on my SpotMicro and basically none of them work well except this. Thank you for all your work.

I'm having a hard time trying to find any info on foot Contact sensors, though. What kind of sensor is typically used? A force resistor? Any example code for nodes publishing to the topic?

Any info would help here.

Thanks!

[Vladimir]

MIT used encoders and current sensors in joint servos in order to determine presence of contact. There is information in the acrticle