Just simply using the tactile sensors on the feet, it's trying to walk over a changing terrain, a soft terrain where it pushes down and changes. And just by the tactile information, it successfully crosses over these types of terrains.
Usando solamente los sensores en los extremos intenta caminar sobre un terreno cambiante un terreno blando que se deforma y cambia y solo con la información táctil consigue cruzar por este tipo de terreno.