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RAIWAY: 20-inch large-wheel bipedal robot uses contact-informed blind locomotion control to traverse rugged terrain

A Korean team proposed the RAIWAY wheeled bipedal robot and a contact-informed control method. The robot is equipped with 20-inch wheels and can roll across irregular and discontinuous terrain. The method distills multi-contact events into a latent representation in simulation, and at deployment infers it online from proprioception alone, requiring no contact sensors. Real-world tests covered steep slopes, gravel, studded surfaces, and rocky terrain, and demonstrated continuous ascent on outdoor stairs with step heights up to 15 cm, outperforming baselines without the contact-informed mechanism.

Part of the event: RAIWAY Wheeled-Legged Robot Uses Contact-Information Blind Control to Traverse Obstacles

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