CROSS-GAiT: Cross-Attention-Based Multimodal Representation Fusion for Parametric Gait Adaptation in Complex Terrains
CROSS-GAiT fuses visual and time-series terrain representations for adaptive quadruped gait control.
Evidence notes
- The work adjusts step height and hip splay parameters in response to terrain such as vegetation, sand, gravel, and deformable surfaces.
- The authors validate the system on a Ghost Robotics Vision 60 quadruped in challenging outdoor terrain.
Company context
Ghost Robotics builds rugged quadrupedal unmanned ground vehicles for defense, public safety, industrial inspection, and other field operations. Its core platform is the Vision 60, a modular all-weather Q-UGV designed for unstructured terrain and payload adaptability.