SAC-Based Gait Generation and Robust Balance Control for Cassie Robots in Unknown Terrain - 2026-02-15 - Research Publication - The development of robust locomotion strategies for bipedal robots remains a significant challenge in robotics, particularly when navigating unstructured and unknown environments. The Cassie robot, a dynamic bipedal… - source: doi.org
Multi-biped payload-transport paper demonstrates coordinated Cassie teams - 2024-06-25 - Research Publication - Payload transport over flat terrain via multi-wheel robot carriers is well-understood, highly effective, and configurable. - source: arxiv.org
IJRR study demonstrates broad dynamic locomotion skills on Cassie - 2024-01-30 - Research Publication - This paper covers IJRR study demonstrates broad dynamic locomotion skills on Cassie for Cassie in Reinforcement learning. - source: arxiv.org
Cassie constrained-foothold paper demonstrates MPC footstep control - 2023-09-14 - Research Publication - Bipedal robots promise the ability to traverse rough terrain quickly and efficiently, and indeed, humanoid robots can now use strong ankles and careful foot placement to traverse discontinuous terrain. - source: arxiv.org
RSS jumping-control paper transfers versatile dynamic jumps to Cassie hardware - 2023-02-19 - Research Publication - This paper covers RSS jumping-control paper transfers versatile dynamic jumps to Cassie hardware for Cassie in Robot learning. - source: arxiv.org
Leveraging Sequentiality in Reinforcement Learning from a Single Demonstration - 2022-11-09 - Research Publication - Deep Reinforcement Learning has been successfully applied to learn robotic control. However, the corresponding algorithms struggle when applied to problems where the agent is only rewarded after achieving a complex task. - source: arxiv.org
Value Summation: A Novel Scoring Function for MPC-based Model-based Reinforcement Learning - 2022-09-16 - Research Publication - This paper proposes a novel scoring function for the planning module of MPC-based reinforcement learning methods to address the inherent bias of using the reward function to score trajectories. The proposed method enhances… - source: arxiv.org
Learning Dynamic Bipedal Walking Across Stepping Stones - 2022-05-03 - Research Publication - In this work, we propose a learning approach for 3D dynamic bipedal walking when footsteps are constrained to stepping stones. While recent work has shown progress on this problem, real-world demonstrations have been… - source: arxiv.org
Custom Sine Waves Are Enough for Imitation Learning of Bipedal Gaits with Different Styles - 2022-04-08 - Research Publication - Not until recently, robust bipedal locomotion has been achieved through reinforcement learning. However, existing implementations rely heavily on insights and efforts from human experts, which is costly for the iterative… - source: arxiv.org
Cassie ALIP-MPC paper demonstrates terrain-adaptive bipedal locomotion - 2021-09-30 - Research Publication - This paper presents a gait controller for bipedal robots to achieve highly agile walking over various terrains given local slope and friction cone information. - source: arxiv.org
Control Lyapunov Functions for Compliant Hybrid Zero Dynamic Walking - 2021-07-09 - Research Publication - The ability to realize nonlinear controllers with formal guarantees on dynamic robotic systems has the potential to enable more complex robotic behaviors -- yet, realizing these controllers is often practically… - source: arxiv.org
Parameterized locomotion RL paper transfers robust walking policies to Cassie - 2021-03-26 - Research Publication - Developing robust walking controllers for bipedal robots is a challenging endeavor. Traditional model-based locomotion controllers require simplifying assumptions and careful modelling; any small errors can result in… - source: arxiv.org
Cassie sim-to-real paper learns all common bipedal gaits - 2020-11-02 - Research Publication - We study the problem of realizing the full spectrum of bipedal locomotion on a real robot with sim-to-real reinforcement learning (RL). - source: arxiv.org
Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics\n Through Adaptive Neural Network Controller - 2020-08-01 - Research Publication - This paper presents a neural-network based adaptive feedback control\nstructure to regulate the velocity of 3D bipedal robots under dynamics\nuncertainties. Existing Hybrid Zero Dynamics (HZD)-based controllers… - source: arxiv.org
Cassie Hovershoes paper demonstrates multimodal bipedal riding control - 2019-07-26 - Research Publication - Motivated towards achieving multi-modal locomotion, in this paper, we develop a framework for a bipedal robot to dynamically ride a pair of Hovershoes over various terrain. - source: arxiv.org
Cassie feedback-control paper demonstrates walking, standing, and Segway riding - 2018-09-19 - Research Publication - The Cassie bipedal robot designed by Agility Robotics is providing academics a common platform for sharing and comparing algorithms for locomotion, perception, and navigation. - source: arxiv.org