Cover Image

Perceptive Mixed-Integer Footstep Control for Underactuated Bipedal Walking on Rough Terrain

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Acosta, Brian, Posa, Michael
Format:	Preprint
Published:	2025
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Learning a Vision-Based Footstep Planner for Hierarchical Walking Control
by: Kim, Minku, et al.
Published: (2025)

Bipedal-Walking-Dynamics Model on Granular Terrains
by: Chen, Xunjie, et al.
Published: (2026)

Bipedal Safe Navigation over Uncertain Rough Terrain: Unifying Terrain Mapping and Locomotion Stability
by: Muenprasitivej, Kasidit, et al.
Published: (2024)

Walking on Rough Terrain with Any Number of Legs
by: Chen, Zhuoyang, et al.
Published: (2026)

STATE-NAV: Stability-Aware Traversability Estimation for Bipedal Navigation on Rough Terrain
by: Yoon, Ziwon, et al.
Published: (2025)

Anticipatory and Adaptive Footstep Streaming for Teleoperated Bipedal Robots
by: Penco, Luigi, et al.
Published: (2025)

FootstepNet: an Efficient Actor-Critic Method for Fast On-line Bipedal Footstep Planning and Forecasting
by: Gaspard, Clément, et al.
Published: (2024)

RL-augmented MPC Framework for Agile and Robust Bipedal Footstep Locomotion Planning and Control
by: Bang, Seung Hyeon, et al.
Published: (2024)

Demonstrating a Robust Walking Algorithm for Underactuated Bipedal Robots in Non-flat, Non-stationary Environments
by: Dosunmu-Ogunbi, Oluwami, et al.
Published: (2024)

Learning Vision-Based Bipedal Locomotion for Challenging Terrain
by: Duan, Helei, et al.
Published: (2023)

Impact-Invariant Control: Maximizing Control Authority During Impacts
by: Yang, William, et al.
Published: (2023)

RL-augmented Adaptive Model Predictive Control for Bipedal Locomotion over Challenging Terrain
by: Kamohara, Junnosuke, et al.
Published: (2025)

Dynamic On-Palm Manipulation via Controlled Sliding
by: Yang, William, et al.
Published: (2024)

Adaptive Fuzzy‐LQR for Stability Control of Bipedal Wheel‐Legged Robots on Variable Terrain
by: Duc Thien Tran, et al.
Published: (2026)

Whole-Body Control With Terrain Estimation of A 6-DoF Wheeled Bipedal Robot
by: Wen, Cong, et al.
Published: (2025)

ProTerrain: Probabilistic Physics-Informed Rough Terrain World Modeling
by: Raja, Golnaz, et al.
Published: (2025)

Terrain-Aware Model Predictive Control of Heterogeneous Bipedal and Aerial Robot Coordination for Search and Rescue Tasks
by: Shamsah, Abdulaziz, et al.
Published: (2024)

Assistive Control of Knee Exoskeletons for Human Walking on Granular Terrains
by: Zhu, Chunchu, et al.
Published: (2024)

Learning Terrain Aware Bipedal Locomotion via Reduced Dimensional Perceptual Representations
by: Castillo, Guillermo A., et al.
Published: (2025)

Foot Shape-Dependent Resistive Force Model for Bipedal Walkers on Granular Terrains
by: Chen, Xunjie, et al.
Published: (2024)

Adaptive Ankle Torque Control for Bipedal Humanoid Walking on Surfaces with Unknown Horizontal and Vertical Motion
by: Stewart, Jacob, et al.
Published: (2024)

Time-Varying Foot-Placement Control for Underactuated Humanoid Walking on Swaying Rigid Surfaces
by: Gao, Yuan, et al.
Published: (2024)

Perceptive Variable-Timing Footstep Planning for Humanoid Locomotion on Disconnected Footholds
by: Xiang, Zhaoyang, et al.
Published: (2026)

Learning Rock Pushability on Rough Planetary Terrain
by: Girgin, Tuba, et al.
Published: (2025)

Stable Imitation of Multigait and Bipedal Motions for Quadrupedal Robots Over Uneven Terrains
by: Erdong Xiao, et al.
Published: (2025)

VMTS: Vision-Assisted Teacher-Student Reinforcement Learning for Multi-Terrain Locomotion in Bipedal Robots
by: Chen, Fu, et al.
Published: (2025)

Probabilistically-Safe Bipedal Navigation over Uncertain Terrain via Conformal Prediction and Contraction Analysis
by: Muenprasitivej, Kasidit, et al.
Published: (2025)

Capsizing-Guided Trajectory Optimization for Autonomous Navigation with Rough Terrain
by: Zhang, Wei, et al.
Published: (2025)

Scaling Rough Terrain Locomotion with Automatic Curriculum Reinforcement Learning
by: Li, Ziming, et al.
Published: (2026)

Bipedal Robust Walking on Uneven Footholds: Piecewise Slope LIPM with Discrete Model Predictive Control
by: Shi, Yapeng, et al.
Published: (2025)

Learning Bipedal Walking on a Quadruped Robot via Adversarial Motion Priors
by: Peng, Tianhu, et al.
Published: (2024)

Full‐Body Optimization‐Based Bipedal Walking Control With Task‐Space Inverse Dynamics and Virtual Constraints
by: William Suliman, et al.
Published: (2025)

Enhancing Task Performance of Learned Simplified Models via Reinforcement Learning
by: Bui, Hien, et al.
Published: (2023)

No More Blind Spots: Learning Vision-Based Omnidirectional Bipedal Locomotion for Challenging Terrain
by: Gadde, Mohitvishnu S., et al.
Published: (2025)

Robust Dynamic Walking for a 3D Dual-SLIP Model under One-Step Unilateral Stiffness Perturbations: Towards Bipedal Locomotion over Compliant Terrain
by: Karakasis, Chrysostomos, et al.
Published: (2022)

Learning Bipedal Walking for Humanoid Robots in Challenging Environments with Obstacle Avoidance
by: Hamze, Marwan, et al.
Published: (2024)

Right Model, Right Time: Real-Time Cascaded-Fidelity MPC for Bipedal Walking
by: Stark, Franek, et al.
Published: (2026)

DreamFLEX: Learning Fault-Aware Quadrupedal Locomotion Controller for Anomaly Situation in Rough Terrains
by: Lee, Seunghyun, et al.
Published: (2025)

Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP
by: Ghansah, Adrian B., et al.
Published: (2024)

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction
by: Asselmeier, Max, et al.
Published: (2024)