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About this paper
Oluwami Dosunmu-Ogunbi, Aayushi Shrivastava
The authors extend a stance-ankle-torque controller for Cassie with a revised model of foot impact, using one control architecture with terrain-specific nominal trajectories. Hardware demonstrations show continuous walking across sand, gravel, and small stones, on an estimated 22-degree wet grassy slope, and up five stairs. These results establish performance on tested terrains, not autonomous navigation or generalization to arbitrary ground.
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