BRACE: Adapting Whole-Body References for Force and Terrain
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BRACE is a new motion tracking system for humanoid robots that integrates force and terrain adaptation, enabling robots to follow flat-ground references on sloped terrain.
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- arXiv Robotics — research abstractsBRACE: Adapting Whole-Body References for Force and Terrain Aware Humanoid Motion Tracking
This paper presents BRACE, a whole-body motion tracking system for humanoid robots that integrates force exertion and terrain adaptation. The method enables robots to follow flat-ground references on sloped terrain while compensating for forces and loads, with experiments on the Unitree-G1 demonstrating its effectiveness in both simulation and real-world settings.
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