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About this paper
Marc Ziegler, Batu Özen, Sami Mentes, Thomas Waschulzik, Alois Knoll
The method uses a structured surrogate to separate gait from sensor-dependent corrections, identify abnormal inputs, and repair them before a frozen controller acts. On simulated Go2, offline repair produced 429/640 walking episodes versus 259/640 without repair. Walking required commanded velocity within a defined tolerance; results cover a constructed, partly screened fault suite and do not establish hardware performance.
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