During the dark of night, using LiDAR for eyes, Cassie Blue is operating fully autonomously on the University of Michigan Wave Field. The terrain is challenging and was not pre-mapped.
The LiDAR and IMU data are fused in real-time to form an elevation map. A CLF- RRT* planner is running at 5Hz with reactive re-planning performed at 300 Hz on the basis of a Control Lyapunov Function (CLF). The reactive planner provides velocity commands to a One-step Ahead Gait Controller based on Angular Momentum [https://youtu.be/V36DCsc6iio]. The paper [https://arxiv.org/abs/2105.08170] provides full details on the controller. The planner is currently unpublished.
This work was presented at the 5th ICRA Workshop on Legged Robotics on 4 June 2021. [https://docs.google.com/presentation/...]