Dynamic Rigid Surface

Dynamic rigid surface (DRS) locomotion research focuses on enabling robots to walk stably on moving surfaces like ships or trains. Current efforts center on developing robust control algorithms, often based on modified linear inverted pendulum (LIP) models—extended to account for time-varying dynamics—and hierarchical control frameworks that integrate footstep planning and low-level trajectory tracking. These advancements are crucial for expanding the operational capabilities of legged robots in unstructured environments and have implications for applications ranging from disaster response to industrial automation.