A three dimensional foot placement planner for locomotion in very rough terrains

@article{Zhao2012ATD,
  title={A three dimensional foot placement planner for locomotion in very rough terrains},
  author={Ye Zhao and Luis Sentis},
  journal={2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)},
  year={2012},
  pages={726-733}
}
Maneuvering through 3D structures nimbly is pivotal to the advancement of legged locomotion. However, few methods have been developed that can generate 3D gaits in those terrains and fewer if none can be generalized to control dynamic maneuvers. In this study, foot placement planning for dynamic locomotion traversing irregular terrains is explored in three dimensional space. Given boundary values of the center of mass' apexes during the gait, sagittal and lateral phase-plane trajectories are… CONTINUE READING
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