Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots

This is the teaser video of our work on locomotion, accepted for ICRA2022. We present a foothold evaluation criterion that considers the transition feasibility for both linear and angular dynamics to overcome complex scenario. The criterion takes into account the robot kinematics, leg, collisions and terrain morphology. We perform simulations and experiments with HyQ robot. The preprint can be found in: For more information, visit our DLS lab website: