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

  title={Feedback Control for Autonomous Riding of Hovershoes by a Cassie Bipedal Robot},
  author={Shuxiao Chen and Jonathan D. Rogers and Bike Zhang and Koushil Sreenath},
  journal={2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)},
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, stairs, and rough outdoor terrain. Our sensor suite comprising of tracking and depth cameras for visual SLAM as well… 

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