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Feedback Control for Autonomous Riding of Hovershoes by a Cassie Bipedal Robot [article]

Shuxiao Chen, Jonathan Rogers, Bike Zhang, Koushil Sreenath
2019 arXiv   pre-print
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.  ...  Our developed control strategy enables the Cassie bipedal robot to interact with the Hovershoes to balance, regulate forward and rotational velocities, achieve fast turns, and move over flat terrain, slopes  ...  In order to address this problem, we use the Cassie bipedal robot developed by Agility Robotics to autonomously ride Hovershoes, see Fig. 1 . A.  ... 
arXiv:1907.11353v2 fatcat:k6rdszwahvczzl7ttqai4qizuq

Geometric Control and Learning for Dynamic Legged Robots

Avinash Siravuru
Additionally, in the Cassie robot model the dynamics are augmented to capture the transverse plane dynamics generated while riding a pair of Hovershoes.  ...  Motivated by these promising theoretical results, we leveraged the geometric model of Cassie to plan and control highly dynamic behaviors like turning in place on a 20 degree-of-freedom bipeda [...]  ...  Figure 3 . 7 : 37 Snapshot of an experiment of the bipedal robot Cassie autonomously riding on Hovershoes.  ... 
doi:10.1184/r1/12181962 fatcat:k6iys4wn2vhlfk4f5nmxad4eia