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Fully Autonomy on the Wave Field 2021

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 The planner is currently unpublished.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/...]