mlsanityData to 7 Oct 2026

Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway

arXiv 1809.07279 ↗First posted 19 Sep 2018cs.RO math.OCcited by 15

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Abstract (arXiv)

The Cassie bipedal robot designed by Agility Robotics is providing academics a common platform for sharing and comparing algorithms for locomotion, perception, and navigation. This paper focuses on feedback control for standing and walking using the methods of virtual constraints and gait libraries. The designed controller was implemented six weeks after the robot arrived at the University of Michigan and allowed it to stand in place as well as walk over sidewalks, grass, snow, sand, and burning brush. The controller for standing also enables the robot to ride a Segway. A model of the Cassie robot has been placed on GitHub and the controller will also be made open source if the paper is accepted.

Key facts. Cited by 15 papers in the map (data through 7 Oct 2026). First posted on arXiv 19 Sep 2018.

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Citing papers per year: 2021: 3; 2022: 6; 2023: 1; 2024: 3; 2025: 2.

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  1. 2023Real-World Humanoid Locomotion with Reinforcement Learningcited by 132
  2. 2021Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robotscited by 95
  3. 2024Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Controlcited by 63
  4. 2022Adapting Rapid Motor Adaptation for Bipedal Robotscited by 39
  5. 2024Learning Humanoid Locomotion over Challenging Terraincited by 20
  6. 2022Learning Forward Dynamics Model and Informed Trajectory Sampler for Safe Quadruped Navigationcited by 6
  7. 2021Autonomous Navigation of Underactuated Bipedal Robots in Height-Constrained Environmentscited by 5
  8. 2022Bayesian Optimization Meets Hybrid Zero Dynamics: Safe Parameter Learning for Bipedal Locomotion Controlcited by 5
  9. 2025Ego-Vision World Model for Humanoid Contact Planningcited by 5
  10. 2022Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Modelscited by 3
  11. 2021Make Bipedal Robots Learn How to Imitatecited by 0
  12. 2022Configuration Path Controlcited by 0
3 more
  1. 2022Learning fast and agile quadrupedal locomotion over complex terraincited by 0
  2. 2024Effective Virtual Reality Teleoperation of an Upper-body Humanoid with Modified Task Jacobians and Relaxed Barrier Functions for Self-Collision Avoidancecited by 0
  3. 2025Teacher Motion Priors: Enhancing Robot Locomotion over Challenging Terraincited by 0