Bipedal Robot MABEL Walks Over Randomly Varying Ground

Bipedal Robot MABEL Walks over Randomly Varying Ground: Experiment No. 1
Challenge: Traverse an irregular surface without prior knowledge of ground profile.
Comments: We used a single feedback control, with a virtual compliant term in the stance knee. Switching control is not employed here. This was our initial attempt over random ground. The robot fell at the end of the experiment. We understand why it fell and will be back with more results soon.

 

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