https://mr-tooth.github.io/zh/tags/footstep-planning/Footstep PlanningHugoBlox Kit (https://hugoblox.com)zh-HansThu, 09 Apr 2026 00:00:00 +0000https://mr-tooth.github.io/media/icon_hu_1c0e9cb08cfb822a.pnghttps://mr-tooth.github.io/zh/tags/footstep-planning/https://mr-tooth.github.io/zh/projects/astar-footstep-planner/Thu, 09 Apr 2026 00:00:00 +0000https://mr-tooth.github.io/zh/projects/astar-footstep-planner/<p><code>AStarFootstepPlanner</code> 是一个开源 C++ 人形机器人落脚点规划器。</p> <p>它在复杂地形上搜索满足运动学约束的可行落脚序列，可作为运动规划实验和教学中的紧凑基线工具。</p>https://mr-tooth.github.io/zh/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/zh/publications/a-footstep-planning-method-for-biped-robots-based-on-variable-parameter-velocity-mapping-and-quadratic-programming/<h2 id="专利记录">专利记录</h2> <table> <thead> <tr> <th>字段</th> <th>官方记录</th> </tr> </thead> <tbody> <tr> <td>中文名称</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>专利号</td> <td>ZL 2022 1 0173869.0</td> </tr> <tr> <td>申请日</td> <td>2022 年 2 月 24 日</td> </tr> <tr> <td>授权公告日</td> <td>2023 年 3 月 14 日</td> </tr> <tr> <td>授权公告号</td> <td>CN 114527663 B</td> </tr> <tr> <td>证书号</td> <td>5781760</td> </tr> <tr> <td>专利权人</td> <td>北京理工大学</td> </tr> </tbody> </table> <p>官方发明人：黄强、赖俊杭、陈学超、余张国、李庆庆、石青、黄岩。</p>