An A* footstep planner using planar region maps and partial footholds enables autonomous walking over rough terrain and is demonstrated on Atlas and Valkyrie robots.
ARA*: Anytime A* with provable bounds on sub-optimality
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Footstep Planning for Autonomous Walking Over Rough Terrain
An A* footstep planner using planar region maps and partial footholds enables autonomous walking over rough terrain and is demonstrated on Atlas and Valkyrie robots.