Hume Walks in Flat Terrain and Overcomes and Obstacle Using UT’s Phase Space Planning Techniques

In this video, showing results from our research funded by the US Office of Naval Research. UT’s Hume bipedal robot executes the trajectories given by a Phase Space Planner. A video of UT’s Phase Space Planner is shown further below.Congratulations to our students Donghyun Kim, Ye Zhao, Gray Thomas and Alan Kwok for their success!

Empirical Phase Space Plan Modifications

 

Multiple Steps

 

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