A 100 Hz mixed-integer footstep controller and a temporally consistent terrain segmentation method let the Cassie biped walk over steps, curbs, and grass without pre-specified footholds.
SLIP Walking Over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program,
1 Pith paper cite this work. Polarity classification is still indexing.
1
Pith paper citing it
citation-role summary
background 1
citation-polarity summary
fields
cs.RO 1years
2025 1verdicts
CONDITIONAL 1roles
background 1polarities
unclear 1representative citing papers
citing papers explorer
-
Perceptive Mixed-Integer Footstep Control for Underactuated Bipedal Walking on Rough Terrain
A 100 Hz mixed-integer footstep controller and a temporally consistent terrain segmentation method let the Cassie biped walk over steps, curbs, and grass without pre-specified footholds.