STANCE: Locomotion Adaptation over Soft Terrain
STANCE: Locomotion Adaptation over Soft Terrain
Shamel Fahmi, Michele Focchi, Andreea Radulescu, Geoff Fink, Victor Barasuol and Claudio Semini
This is the teaser video of our recent work on locomotion over soft terrain.
We present STANCE which stands for Soft Terrain Adaptation and Compliance Estimation. STANCE is an online soft terrain adaptation algorithm that can adapt online to any type of terrain compliance (stiff or soft). STANCE allows HyQ to adapt its locomotion strategy depending on the type of terrain. As a result, HyQ was able to traverse and transition between multiple terrains with different compliance without pre-tuning.
This work is currently under review.
The preprint can be found in: https://arxiv.org/abs/1904.12306
The prequel paper of this work can be found in: https://ieeexplore.ieee.org/stamp/sta...
For more information, visit our DLS lab website: https://dls.iit.it/
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