@inproceedings{ruppert2020a, title = {FootTile: a Rugged Foot Sensor for Force and Center of Pressure Sensing in Soft Terrain}, author = {Ruppert, Felix and Badri-Spr{\"o}witz, Alexander}, booktitle = {2020 IEEE International Conference on Robotics and Automation (ICRA 2020)}, pages = {4810--4816}, publisher = {IEEE}, address = {Piscataway, NJ}, year = {2020}, doi = {10.1109/ICRA40945.2020.9197466}, url = {http://arxiv.org/abs/2005.09025} }