When and where to step: Terrain-aware real-time footstep location and timing optimization for bipedal robots

Wang, Ke; Hu, Zhaoyang Jacopo; Tisnikar, Peter; Helander, Oskar; Chappell, Digby; Kormushev, Petar

doi:10.1016/j.robot.2024.104742

Robotics and Autonomous Systems

2024

DOI: 10.1016/j.robot.2024.104742

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When and where to step: Terrain-aware real-time footstep location and timing optimization for bipedal robots

Ke Wang,

Zhaoyang Jacopo Hu,

Peter Tisnikar

et al.

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When and where to step: Terrain-aware real-time footstep location and timing optimization for bipedal robots

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