2 citations · 2 across the 2 of their papers we have counts for
2 papers
cs.RO2026
Perceptive Variable-Timing Footstep Planning for Humanoid Locomotion on Disconnected Footholds
Zhaoyang Xiang, Upama Pant, Ayonga Hereid
Walking over disconnected footholds requires selecting landing regions while adapting step timing to the robot's motion. We present a perceptive model predictive planner that combi…
cs.RO2024★ 2 cited
Adaptive Step Duration for Accurate Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds
Zhaoyang Xiang, Victor Paredes, Guillermo A. Castillo +1
Traditional one-step preview planning algorithms for bipedal locomotion struggle to generate viable gaits when walking across terrains with restricted footholds, such as stepping s…