SQ3 4dof how to implement terrain adaptation with footsensor

Lynxmotion Legged Robots
1

So I have taken all my old SES and a SQ3 body and build a SQ3 4dof. I have used an accelerometer and simple switch footsensors. Everything based on different versions of the phoenix code with some customisations. I was wondering whether anybody has succesfully terrain adaptation using footsensors and could give me some tips as to how to do this.

I basically used the botborduino SQ3 code I found on GIT hub. I only adapted it so it worked for an 4dof setup.

Looks like this:

Anyone helpfull tips?

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Now that is one attractive, well-designed quadruped. Nice song - “The XX - Intro”

Nothing on our end, but you might be surprised with what the community has done.