The Cassie bipedal robot designed by Agility Robotics is providing academics with 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. Software supporting the work in this paper is available on GitHub.
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CANopen Robot Controller (CORC): An Open Software Stack for Human Robot Interaction Development
Interest in the investigation of novel software and control algorithms for wearable robotics is growing. However, entry into this field requires a significant investment in a testing platform. This work introduces CANopen Robot Controller (CORC)—an open source software stack designed to accelerate the development of robot software and control algorithms—justifying its choice of platform, describing its overall structure, and demonstrating its viability on two distinct platforms.
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- Award ID(s):
- 2024488
- NSF-PAR ID:
- 10284906
- Date Published:
- Journal Name:
- WeRob 2020: Wearable Robotics: Challenges and Trends
- Volume:
- 27
- Issue:
- 2022
- Page Range / eLocation ID:
- 287-292
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.1007/978-3-030-69547-7_47
