AStarFootstepPlanner
April 9, 2026
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1 min read
AStarFootstepPlanner is an open-source C++ planner for humanoid robot footsteps.
It searches feasible footstep sequences on complex terrain while respecting kinematic constraints, making it a compact baseline for motion planning experiments and teaching.
Authors
Junhang Lai
(he/him)
Ph.D. Candidate in Robotics
Junhang Lai is a Ph.D. candidate at the Institute of Intelligent Robotics, Beijing Institute of Technology. His work focuses on humanoid and legged robot locomotion, motion planning and control, reinforcement learning, simulation-to-real deployment, and embodied intelligence systems.