Dense vegetation and vine-like entanglements are some of the hardest terrain for a mobile robot to cross.
This project develops proprioceptive sensing and reactive control that let quadrupedal robots feel, respond to, and push through tangled vegetation instead of getting stuck. Perception alone is unreliable here — foliage occludes the scene and depth sensors routinely misjudge the true height of the ground plane — so we lean on leg force feedback, paired with learned disentanglement behaviors, to traverse cluttered natural terrain robustly.