Dynamic walking on uneven, rough, or compliant terrain

One of the defining characteristics of legged robots in general (and humanoid robots in particular) is the ability of walking on various types of terrain. In this video, we show our humanoid robot TORO walking dynamically over uneven (on grass outside the lab), rough (large gravel), and compliant terrain (a soft gym mattress). The robot can maintain its balance, even when the ground shifts rapidly under foot, such as when walking over gravel. This behaviour showcases the torque-control capability of quickly adapting the contact forces compared to position control methods.
An in-depth discussion of the current implementation is presented in the paper "Dynamic Walking on Compliant and Uneven Terrain using DCM and Passivity-based Whole-body Control".