Cassie Hovershoes paper demonstrates multimodal bipedal riding control

Key points

• 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 terrain, and autonomous obstacle-course navigation using visual SLAM and planning.
• The work gives Cassie a distinctive benchmark for multimodal locomotion beyond standard walking.