Fast Footstep Planning with Aborting A
Marcell Missura Maren Bennewitz Marcell Missura Maren Bennewitz
Footstep planning is the dominating approach when it comes to controlling the walk of a humanoid robot, even though a footstep plan is expensive to compute. The most prominent proposals typically spend up to a few seconds of computation time and output a sequence of up to 30 steps all the way to the goal. This way, footstep planning is applicable only in static environments where nothing changes a...