An A* footstep planner using planar region maps and partial footholds enables autonomous walking over rough terrain and is demonstrated on Atlas and Valkyrie robots.
Humans exploit the biomechanics of bipedal gait during visually guided walking over complex terrain,
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Footstep Planning for Autonomous Walking Over Rough Terrain
An A* footstep planner using planar region maps and partial footholds enables autonomous walking over rough terrain and is demonstrated on Atlas and Valkyrie robots.