Enregistré dans:
| Auteurs principaux: | , , , , , , , , |
|---|---|
| Format: | Preprint |
| Publié: |
2026
|
| Sujets: | |
| Accès en ligne: | https://arxiv.org/abs/2602.20850 |
| Tags: |
Ajouter un tag
Pas de tags, Soyez le premier à ajouter un tag!
|
| _version_ | 1866908850403147776 |
|---|---|
| author | Ye, Lei Gao, Haibo Yang, Huaiguang Xu, Peng Wang, Haoyu Liu, Tie Shan, Junqi Deng, Zongquan Ding, Liang |
| author_facet | Ye, Lei Gao, Haibo Yang, Huaiguang Xu, Peng Wang, Haoyu Liu, Tie Shan, Junqi Deng, Zongquan Ding, Liang |
| contents | Legged robots face significant challenges in navigating complex environments, as they require precise real-time decisions for foothold selection and contact planning. While existing research has explored methods to select footholds based on terrain geometry or kinematics, a critical gap remains: few existing methods efficiently validate the existence of a non-collision swing trajectory. This paper addresses this gap by introducing KCFRC, a novel approach for efficient foothold reachability analysis. We first formally define the foothold reachability problem and establish a sufficient condition for foothold reachability. Based on this condition, we develop the KCFRC algorithm, which enables robots to validate foothold reachability in real time. Our experimental results demonstrate that KCFRC achieves remarkable time efficiency, completing foothold reachability checks for a single leg across 900 potential footholds in an average of 2 ms. Furthermore, we show that KCFRC can accelerate trajectory optimization and is particularly beneficial for contact planning in confined spaces, enhancing the adaptability and robustness of legged robots in challenging environments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_20850 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | KCFRC: Kinematic Collision-Aware Foothold Reachability Criteria for Legged Locomotion Ye, Lei Gao, Haibo Yang, Huaiguang Xu, Peng Wang, Haoyu Liu, Tie Shan, Junqi Deng, Zongquan Ding, Liang Robotics Legged robots face significant challenges in navigating complex environments, as they require precise real-time decisions for foothold selection and contact planning. While existing research has explored methods to select footholds based on terrain geometry or kinematics, a critical gap remains: few existing methods efficiently validate the existence of a non-collision swing trajectory. This paper addresses this gap by introducing KCFRC, a novel approach for efficient foothold reachability analysis. We first formally define the foothold reachability problem and establish a sufficient condition for foothold reachability. Based on this condition, we develop the KCFRC algorithm, which enables robots to validate foothold reachability in real time. Our experimental results demonstrate that KCFRC achieves remarkable time efficiency, completing foothold reachability checks for a single leg across 900 potential footholds in an average of 2 ms. Furthermore, we show that KCFRC can accelerate trajectory optimization and is particularly beneficial for contact planning in confined spaces, enhancing the adaptability and robustness of legged robots in challenging environments. |
| title | KCFRC: Kinematic Collision-Aware Foothold Reachability Criteria for Legged Locomotion |
| topic | Robotics |
| url | https://arxiv.org/abs/2602.20850 |