Time-Varying Foot Placement Control for Humanoid Walking on Swaying Rigid Surface, by Yuan Gao, Victor Paredes, Yukai Gong, Zijian He, Ayonga Hereid, and Yan Gu, was accepted for publication in IEEE Transactions on Robotics and published in volume 41, pages 5740–5760, in 2025.
The paper develops a foot-placement controller that accounts for the motion of the supporting surface, with evaluation in Digit simulation and hardware experiments on swaying ground.
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