Cassie ALIP-MPC paper demonstrates terrain-adaptive bipedal locomotion

Evidence notes

• The paper combines an Angular Momentum Linear Inverted Pendulum model with MPC foot placement and virtual constraints for terrain-adaptive walking.
• Experiments validate Cassie locomotion across surfaces with varied inclinations and textures while accounting for slope and friction constraints.
• The work gives Cassie a benchmark for agile bipedal walking over varied terrain conditions.