This video shows the progression of increasingly complex gait strategies from ATRIAS through recent results with Cassie. Specifically, Cassie’s controller now includes planned footstep placements in addition to dynamic balancing, allowing access to substantially more complicated terrains.
Cassie: Dynamic Planning on Stairs
Agility Robotics
https://youtu.be/qV-92Bq96Co
This video shows the progression of increasingly complex gait strategies from ATRIAS through recent results with Cassie. Specifically, Cassie’s controller now includes planned footstep placements in addition to dynamic balancing, allowing access to substantially more complicated terrains.
Agility Robotics
http://www.agilityrobotics.com/