Online Terrain-Aware Bipedal Gait Generation via Manifold Projection and Optimization-Guided Motion Libraries
August 2, 2026·,,,,·
1 min read
Junhang Lai
Qingqing Li
Chencheng Dong
Fei Meng
Qiang Huang
Abstract
This work builds an online terrain-aware bipedal gait generation pipeline based on manifold projection and optimization-guided motion libraries, targeting stable humanoid locomotion over stairs, slopes, low obstacles, and mixed unstructured terrain.
Type
Publication
IEEE/ASME Transactions on Mechatronics
Status
Peer-reviewed
Accepted by IEEE/ASME Transactions on Mechatronics on August 2, 2026. The final version has been submitted and the paper is pending final proof and online publication.