https://mr-tooth.github.io/tags/footstep-planning/Footstep PlanningHugoBlox Kit (https://hugoblox.com)en-usThu, 09 Apr 2026 00:00:00 +0000https://mr-tooth.github.io/media/icon_hu_1c0e9cb08cfb822a.pnghttps://mr-tooth.github.io/tags/footstep-planning/https://mr-tooth.github.io/projects/astar-footstep-planner/Thu, 09 Apr 2026 00:00:00 +0000https://mr-tooth.github.io/projects/astar-footstep-planner/<p><code>AStarFootstepPlanner</code> is an open-source C++ planner for humanoid robot footsteps.</p> <p>It searches feasible footstep sequences on complex terrain while respecting kinematic constraints, making it a compact baseline for motion planning experiments and teaching.</p>https://mr-tooth.github.io/publications/a-footstep-planning-method-for-biped-robots-based-on-variable-parameter-velocity-mapping-and-quadratic-programming/Tue, 14 Mar 2023 00:00:00 +0000https://mr-tooth.github.io/publications/a-footstep-planning-method-for-biped-robots-based-on-variable-parameter-velocity-mapping-and-quadratic-programming/<h2 id="patent-record">Patent record</h2> <table> <thead> <tr> <th>Field</th> <th>Official record</th> </tr> </thead> <tbody> <tr> <td>Chinese title</td> <td>基于变参数速度映射和二次规划的双足机器人落脚点规划方法</td> </tr> <tr> <td>Patent number</td> <td>ZL 2022 1 0173869.0</td> </tr> <tr> <td>Application date</td> <td>24 February 2022</td> </tr> <tr> <td>Grant date</td> <td>14 March 2023</td> </tr> <tr> <td>Grant announcement</td> <td>CN 114527663 B</td> </tr> <tr> <td>Certificate number</td> <td>5781760</td> </tr> <tr> <td>Patentee</td> <td>Beijing Institute of Technology</td> </tr> </tbody> </table> <p>Official inventors: 黄强、赖俊杭、陈学超、余张国、李庆庆、石青、黄岩。</p>