A Universal Footstep Planning Methodology for Continuous Walking in Challenging Terrain Applicable to Different Types of Legged Robots
Alexander Stumpf,Oskar von Stryk,Alexander Stumpf,Oskar von Stryk
In recent years, the capabilities of legged locomotion controllers have been significantly advanced enabling them to traverse basic types of uneven terrain without visual perception. However, safely and autonomously traversing longer distances over difficult uneven terrain requires appropriate motion planning using online collected environmental knowledge. In this paper, we present such a novel me...
