2.1 m/s = Walking Speed Achieved by Bipedal Robot Cassie Blue

We are using distance traveled divided by time to estimate the velocity. The distance traveled is marked at time 0:39 of the video; see also here The plot shown at time 0.37 is an independent estimate from a Kalman Filter. When we get a chance, we'll try the same experiment on a running track without the gantry. Can Cassie walk faster? Probably not, without running! Yukai Gong now has enough experimental data to write a paper on his cont