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Published on Mar 4, 2012
CHARLI-2 implements an active stabilization strategy based on sensory feedback as an open loop walking gait can become unstable due to the external perturbations from various sources. CHARLI-2 has 3 sources of sensory feedback: Filtered IMU angles, gyro rate readings and proprioception information based on joint encoders. Stabilizing torques at the ankle joints are applied based on this information, and successful external disturbance rejection is demonstrated in this video.