Cassie on a 1.2 m/s Moving Walkway

Cassie Blue showcases its ability to navigate a moving walkway, a common yet challenging scenario in human environments. Cassie Blue can walk on to and off of a 1.2 meter-per-second moving treadmill and reject disturbances caused by a tugging gantry and sub-optimal approach angle caused by operator error. The key to Cassie Blue’s success is a new controller featuring a novel combination of virtual constraint-based control and a model predictive controller applied on the often-neglected ankle motor. This technology paves the way for robots to adapt and function in dynamic, real-world settings.

Paper can be found here: https://arxiv.org/abs/2307.02448

Видео Cassie on a 1.2 m/s Moving Walkway канала Michigan Robotics: Dynamic Legged Locomotion Lab