Agility Robotics Cassie

A legless bipedal robot, just two bird-like legs, a classic platform for legged reinforcement learning.

Cassie is a bipedal robot designed by Jonathan Hurst's team at Oregon State University and manufactured by Agility Robotics, launched in 2017 with DARPA funding supporting the development. It has no head or arms, only two legs whose knees bend backward like an ostrich's, a design that prioritizes elasticity and energy efficiency. It was one of the first bipedal robots to have its running gait controlled outdoors with machine learning, and has been used by many universities for reinforcement-learning locomotion control and sim-to-real transfer research. In 2022 it set the Guinness World Record for a bipedal robot 100-meter dash, at 24.73 seconds. Agility later built a humanoid robot, Digit, on top of Cassie's leg design by adding an upper body.

ExampleTeams at Berkeley and elsewhere have trained walking policies for Cassie with reinforcement learning, then transferred them from simulation to the real robot.

Also called

Cassie

Related

Agility Robotics · Bipedal Robot · Reverse-Knee (Digitigrade, Bird-Like) Leg · Agility Robotics Digit · RL-based Locomotion Control · Sim-to-Real Transfer

Sources

Oregon State University：Bipedal robot developed at Oregon State achieves Guinness World Record in 100 meters
The Robot Report：Watch a Cassie bipedal robot run 100 meters

As of

2022-05