Learning Spring Mass Locomotion on Cassie

This is the video attachment to our submitted paper,
"Learning Spring Mass Locomotion: Guiding Policies with a Reduced-Order Model"
Kevin Green, Yesh Godse, Jeremy Dao, Ross L. Hatton, Alan Fern, Jonathan Hurst
This video introduces our learned bipedal controller that is controlled by and trained to demonstrate spring mass walking. We show simulation results of the controller handling large speed changes, side by side videos of the reduced order model motion, the controller operating in simulation and the controller operating on the physical robot on a treadmill. Finally, we show large speed changes on the robot in an outdoor experiment.