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Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway

Associated paper that details the feedback controller used on Cassie Blue is on the arXiv: https://arxiv.org/abs/1809.07279 and has been accepted for publication at the 2019 American Control Conference. The software implementation of the controller has been released on GitHub https://github.com/UMich-BipedLab/Cassie_FlatGround_Controller

Source: Michigan Robotics: Dynamic Legged Locomotion Lab YouTube channel video.

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