Adaptive Step Duration for Accurate Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds, by Zhaoyang Xiang, Victor Paredes, Guillermo A. Castillo, and Ayonga Hereid, was accepted to IROS 2025.
The paper jointly adapts step timing and foot placement, with simulation studies on stepping-stone terrain and under external disturbances. IROS 2025 took place in Hangzhou, China, from October 19 to 25, 2025.
Read the paper and demonstration or visit the proceedings record.