LOAD: Locomotion with Online Awareness of Dynamics for Precision Footholds
Overview
LOAD combines inertial estimates and dynamics features for narrow-beam traversal. Hardware tests show success with 6-11 kg payloads on 10-15 cm beams under unknown loads. Results support combining physical estimates and historical data for precision locomotion under varying payloads. arXiv:2610.17930v1 Latest: 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. arXiv:2610.17930v1
Generated from attributed reports · Updated 2 hours ago
Event evidence and corrections
0 attributed source owners. Ownership does not establish independent confirmation. Quantities are reported separately and are never added together.
Reported quantity · beam width: 10 other · Basis not reported · Differing source assertions
“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.”
Exact source · revision 1Source owner not reported
Reported quantity · beam width: 15 other · Basis not reported · Differing source assertions
“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.”
Exact source · revision 1Source owner not reported
Reported quantity · payload: 6 other · Basis not reported · Differing source assertions
“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.”
Exact source · revision 1Source owner not reported
Reported quantity · payload: 9 other · Basis not reported · Differing source assertions
“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.”
Exact source · revision 1Source owner not reported
Reported quantity · payload: 11 other · Basis not reported · Differing source assertions
“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.”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsLocomotion 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.
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