Footstep Planning

Key Insight

For legged robots walking on rough or discontinuous terrain, planning continuous whole-body trajectories is highly complex and prone to collision. Footstep planning simplifies this by first planning a discrete sequence of stable foot placements on a footstep lattice using an A* search. This project implements footstep planning for a planar biped crossing stepping stones to demonstrate how discrete graph search can solve complex locomotion problems before continuous joint trajectories are generated.