Bipedal Robot Cassie Blue Hones Her Segway Riding Skills

Cassie Blue is controlling the motion of the Segway by body lean, just as a human rider would do. To turn, she leans into the middle bar of the Segway with her "shin". The feedback law being used is Cassie Blue's normal standing controller. Yukai Gong, via the remote controller, commands Cassie Blue's body lean. It would be much better if we modified the controller system so that we just sent desired speed and turn radius to the robot, and let feedback take care of the rest! Because we did not do that, w