Cassie feedback-control paper demonstrates walking, standing, and Segway riding

Key points

• 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 demonstration.
• The work gives Cassie an early benchmark as a shared academic platform for bipedal locomotion and control research.