Footprint searching and trajectory design of a humanoid robot

This paper proposes a footstep-planning algorithm for humanoid robots in 3D environments by taking height, horizontal coordinates, and possible footsteps into account. The feasibility of locomotion with planning footsteps is further refined by adopting re-planning scheme on locomotion generator and the modification of momentum compensation for irregular footsteps or tuning motions. The performance of the proposed algorithm and modifications are verified through simulations. The simulation results are quite satisfactory and hence justify the proposed algorithm.