Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway

Associated paper that details the feedback controller used on Cassie Blue is on the arXiv: https://arxiv.org/abs/1809.07279 and has been accepted for publication at the 2019 American Control Conference. The software implementation of the controller has been released on GitHub https://github.com/UMich-BipedLab/Cassie_FlatGround_Controller

This video has one new scene (teeter totter); the rest is a compilation from sources listed below.

Laboratory: https://youtu.be/XoY5vl3rQR8
Grass: https://youtu.be/h6hnfCo4a00
Sand: https://youtu.be/VoD7hbssu-M
Controlled Burns: https://youtu.be/cGb3bE6ZwrQ
Recover from slipping: https://youtu.be/jhQMq6vpnAo
Snow: https://youtu.be/GSbYHArd5o8
Segway: https://youtu.be/0gauVSUJzd0

Видео Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway канала Michigan Robotics: Dynamic Legged Locomotion Lab