Article

Humanoid Motion Generation in Complex 3D Environments

2025-05-19

Abstract excerpt

We address the problem of humanoid locomotion in a 3D environment composed of planar regions with arbitrary inclination and elevation, which includes staircases, ramps, and multi‑floor layouts. The proposed framework couples an off‑line randomized footstep planner with an on‑line control pipeline comprising a model predictive controller and a whole‑body controller which provides the robot torque commands. The plan...

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Literature Corpus work: 5b911a7d-18b0-507d-b3a4-187dae568561
DOI: 10.20944/preprints202505.1371.v1

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