Feedback Control for Autonomous Riding of Hovershoes by a Cassie Bipedal Robot

Cassie Cal autonomously riding a pair of Hovershoes: riding down a pair of stairs, riding on rough and uneven outdoor terrain, riding up and down steep inclines, autonomously navigating an obstacle course, and leaning into a turn to quickly go around corners. While locomotion using legs is efficient when traveling over rough and discrete terrain, wheeled locomotion is more efficient when traveling over flat continuous terrain. Enabling legged robots to ride on various micromobility platforms will offer mu