HUSKY combines humanoid-skateboard dynamics modeling with adversarial motion priors and physics-guided lean-to-steer strategies to achieve real-world stable skateboarding on a humanoid robot.
An overview on vehicle dynamics.International Journal of Dynamics and Control, 1(4):385–395
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HUSKY: Humanoid Skateboarding System via Physics-Aware Whole-Body Control
HUSKY combines humanoid-skateboard dynamics modeling with adversarial motion priors and physics-guided lean-to-steer strategies to achieve real-world stable skateboarding on a humanoid robot.