https://youtu.be/CBdDcsb1DWM
Published on Jul 11, 2019
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Cassie (30 Kg) is walking at a comfortable speed for human while carrying her (9 Kg) perception system. The original controller is used, with the definition of the virtual leg modified to be the line segment connecting overall Center of Mass to her toe. This moves the "control point" up about 10 cm.
https://youtu.be/0nM7lml7kiE
Learning spring mass locomotion on Cassie
Apr 2, 2020
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This is the video that accompanies our submission to the 2020 RSS conference which is currently under review. Once the review process is complete, we will post our full text preprint on an open access site and add a link here. The full title is:
Learning Spring Mass Locomotion: Guiding Policies with a Reduced Order Model
Kevin Green, Yesh Godse, Jeremy Dao, Ross L. Hatton, Alan Fern and Jonathan Hurst
https://youtu.be/fMKVB822dOw
Cassie Blue doing her thing on the U. of Michigan North Campus lawn
Jun 24, 2020
https://youtu.be/nRYXianfoQk
Cassie vs the hill
Jun 25, 2020
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The controller is designed for flat ground and treats the 22 degree slope as a disturbance. As you can "see'', Cassie is not equipped with a vision system in this video. This is called "blind walking", though, to be completely fair, the operator does have vision and it's hard to know if he is making subtle corrections over the RC controller. He says not....
https://youtu.be/-35xJfFMDkE
Cassie Blue goes a ridge too far
Jul 2, 2020
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As our control skills increase, we are more and more impressed by what a Cassie bipedal robot can do. Those who have been following our channel, know that we always shows the limitations of our work. So while there is still much to do, you gotta like the direction things are going. Later this year, you will see this controller integrated with our real-time planner and perception system. Autonomy with agility! Watch out for us!
Valley 1: 0:00
Valley 2: 1:11
Crossing Ridges 1: 2:03
Crossing Ridges 2: 2:43
https://youtu.be/lu_jcL84wNE
Bipedal robot Cassie Blues reaches a walking speed of 2.1m/s
Jul 21, 2020
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We are using distance traveled divided by time to estimate the velocity. The distance traveled is marked at time 0:39 of the video; see also here (https://youtu.be/lu_jcL84wNE?t=39). The plot shown at time 0.37 (https://youtu.be/lu_jcL84wNE) is an independent estimate from a Kalman Filter. When we get a chance, we'll try the same experiment on a running track without the gantry.
Can Cassie walk faster? Probably not, without running!
https://youtu.be/Wb0tIWBrjmc
Cassie robot learns to hop, run and skip
Oct 25, 2020
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These are some preliminary results of our lab's new work on using reinforcement learning to train neural networks to imitate common bipedal gait behaviors, without using any motion capture data or reference trajectories. Our method is described in an upcoming submission to ICRA 2021. Work by Jonah Siekmann and Yesh Godse.
Article "Forget Boston Dynamics. This robot taught itself to walk"
Slick, viral videos from Boston Dynamics are impressive but teaching a robot to walk by itself is a lot harder.
by Will Douglas
April 8, 2021
https://youtu.be/MPhEmC6b6XU
Robot learns to climb stairs blind
May 19, 2021
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We successfully used reinforcement learning to train a recurrent neural network to control our bipedal robot Cassie to climb stairs without any perception sensors such as LIDAR or cameras.
This video accompanies our submission to the 2021 Robotics: Science and System conference. A preprint of the full paper can be found here https://arxiv.org/abs/2105.08328.
"Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning" Jonah Siekmann, Kevin Green, John Warila, Alan Fern, Jonathan Hurst
https://youtu.be/nuhHiKEtaZQ
Reliability tests of a learned stair climbing controller
May 19, 2021
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To show how reliable our learned controller is, we wanted to publish an uninterrupted video of ten stair ascents and ten stair descents. The controller being tested is described in our 2021 Robotics: Science and Systems paper "Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning" Preprint: https://arxiv.org/abs/2105.08328