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.
Bipedal Walking on Con- strained Footholds: Momentum Regulation via Vertical COM Control,
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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.