Bipedal Robot Cassie Blue's Clutzy Operators and a Segway: Bloopers

Operator Error #1: Gantry hit the sidewalk and stopped, pulling Cassie Blue off the Segway.

Operator Error #2: Bruce thought we could go through the wall in some quantum mechanics trick!

Controller Error #3: Bad interactions between the Segway's control loop and Cassie Blue's controller. That is called instability!

Controller Error #4: See above!

Operator Error #5: Yukai commanded too big of a lean!

Segway Error #6: The Segway hit its internal speed limit and leaned backward to slow down without asking permission first from Cassie Blue, the rider. That was a really bad idea!

Cassie Blue is operating with control laws developed at Michigan in this publication: Da, X., Harib, O., Hartley, R., Griffin, B., & Grizzle, J. W. (2016). From 2D design of underactuated bipedal gaits to 3D implementation: Walking with speed tracking. IEEE Access, 4, 3469-3478.

Cassie was built by Agility Robotics. The robot's purchase was enabled by funding from NSF Inspire Grant ECCS-1343720 and Toyota Research Institute (TRI). The work on the control law was funded by NSF Grant NRI-1525006.

Видео Bipedal Robot Cassie Blue's Clutzy Operators and a Segway: Bloopers канала Michigan Robotics: Dynamic Legged Locomotion Lab