First successful tests on our new biped robot Bolt

This is the first successful reactive stepping test on our new torque-controlled biped robot named Bolt. The robot has 3 active degrees of freedom per leg and one passive joint in ankle. Since there is no active joint in ankle, the robot only relies on step location and timing adaptation to stabilize its motion. Not only can the robot perform stepping without active ankles, but it is also capable of rejecting external disturbances as we showed in this video. More information on the algorithm can be found he