Computational experiments for the problem of footstep planning for humanoid robots

Abstract

It is well known that motion planning problems for humanoid robots are of particular interest. Footstep planning is one of such problems. We describe an approach to solve the footstep planning problem in a free unbounded environment. This approach is based on an explicit reduction from the problem to the satisfiability problem. © 2013 Anna Gorbenko and Vladimir Popov.