A layered controller that samples footholds and runs parallel fixed-mode MPC evaluates terrain options in real time, enabling a quadruped and a simulated humanoid to traverse stepping stones.
Footstep planning on uneven terrain with mixed-integer convex optimization,
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Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control
A layered controller that samples footholds and runs parallel fixed-mode MPC evaluates terrain options in real time, enabling a quadruped and a simulated humanoid to traverse stepping stones.