  Motivated towards achieving multi-modal locomotion, in this paper, we develop
a framework for a bipedal robot to dynamically ride a pair of Hovershoes over
various terrain. Our developed control strategy enables the Cassie bipedal
robot to interact with the Hovershoes to balance, regulate forward and
rotational velocities, achieve fast turns, and move over flat terrain, slopes,
stairs, and rough outdoor terrain. Our sensor suite comprising of tracking and
depth cameras for visual SLAM as well as our Dijkstra-based global planner and
timed elastic band-based local planning framework enables us to achieve
autonomous riding on the Hovershoes while navigating an obstacle course. We
present numerical and experimental validations of our work.
