Cassie

The 'Cassie' dataset/benchmark is used to evaluate reduced-order model-based planners and whole-body controllers for bipedal and humanoid robots, specifically through extensive simulations and real-world experiments on the Cassie robot.

Papers using Cassie (2)

RoMoCo: Robotic Motion Control Toolbox for Reduced-Order Model-Based Locomotion on Bipedal and Humanoid Robots2025Iteratively Learning Muscle Memory for Legged Robots to Master Adaptive and High Precision Locomotion2025