Locomotion with Online Awareness of Dynamics for Precision Footholds
Locomotion with Online Awareness of Dynamics for Precision Footholds
LOAD is a perceptive locomotion framework that combines explicit inertial estimates with implicit dynamics features for narrow-beam traversal. The paper evaluates LOAD and its variants in simulation and on hardware, showing that combining physical estimates and historical data improves traversal success under unknown payloads. Hardware experiments demonstrate successful traversal with unilateral payloads of 6 kg on a 10 cm beam and 9 kg on a 15 cm beam, as well as an evenly distributed 11 kg payload on a 15 cm beam.
Source: arXiv Robotics — research abstracts · Read original article ↗
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What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
Reported numbers
beam width
10
beam width
15
payload
6
payload
9
payload
11
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
ith ground-truth inertial parameters. Hardware experiments demonstrate traversal with unilateral payloads of 6 kg on a 10 cm beam and 9 kg on a 15 cm beam, and an evenly distributed 11 kg payload on a 15 cm beam. These results support combining physical estimates and history features for precision locomotion under unknown loads.
Open source S4
Source：arXiv Robotics — research abstracts · arxiv.org