Multi-biped payload-transport paper demonstrates coordinated Cassie teams - 2024-06-25 - Research Publication - The paper trains a decentralized controller for payload transport using multiple rigidly attached biped robots. The authors demonstrate real-world transport systems composed of two and three Cassie robots. It adds a… - source: arxiv.org
IJRR study demonstrates broad dynamic locomotion skills on Cassie - 2024-01-30 - Research Publication - The IJRR study presents a reinforcement-learning controller for standing, walking, running, jumping, and other dynamic bipedal skills. The resulting policies deploy on Cassie in extensive real-world experiments, including… - source: arxiv.org
Cassie constrained-foothold paper demonstrates MPC footstep control - 2023-09-14 - Research Publication - The paper introduces a mixed-integer model-predictive footstep controller for bipedal walking over constrained footholds. Hardware experiments on Cassie use real-time elevation mapping and convex terrain decomposition to… - source: arxiv.org
RSS jumping-control paper transfers versatile dynamic jumps to Cassie hardware - 2023-02-19 - Research Publication - The RSS paper trains a reinforcement-learning controller for robust bipedal jumping across different distances and directions. After multi-stage training, the policy transfers directly to real Cassie hardware for standing… - source: arxiv.org
Cassie ALIP-MPC paper demonstrates terrain-adaptive bipedal locomotion - 2021-09-30 - Research Publication - The paper combines an Angular Momentum Linear Inverted Pendulum model with MPC foot placement and virtual constraints for terrain-adaptive walking. Experiments validate Cassie locomotion across surfaces with varied… - source: arxiv.org
Parameterized locomotion RL paper transfers robust walking policies to Cassie - 2021-03-26 - Research Publication - The paper trains robust locomotion policies in simulation using domain randomization and transfers them to the physical Cassie robot. The learned policies support dynamic behaviors such as velocity tracking, walking-height… - source: arxiv.org
Cassie sim-to-real paper learns all common bipedal gaits - 2020-11-02 - Research Publication - The paper proposes periodic reward composition for standing, walking, hopping, running, and skipping without requiring reference motions. The authors demonstrate sim-to-real transfer of learned gaits to Cassie and a… - source: arxiv.org
Cassie Hovershoes paper demonstrates multimodal bipedal riding control - 2019-07-26 - Research Publication - The paper develops feedback control for Cassie to autonomously ride a pair of Hovershoes while balancing and regulating forward and rotational velocity. Experiments include flat terrain, slopes, stairs, rough outdoor… - source: arxiv.org
Cassie feedback-control paper demonstrates walking, standing, and Segway riding - 2018-09-19 - Research Publication - The paper implements virtual-constraint and gait-library feedback control on Agility Robotics Cassie. The controller enabled standing and walking across sidewalks, grass, snow, sand, and burning brush, plus a Segway-riding… - source: arxiv.org