Ranganeni

Planning the motion for humanoid robots is a computationally-complex task due to the high dimensionality of the system. Thus, a common approach is to first plan in the low-dimensional space induced by the robot's feet--a task referred to as footstep planning. This low-dimensional plan is then used to guide the full motion of the robot. One approach that has proven successful in footstep planning is using search-based planners such as A* and its many variants. To do so, these search-based planners have to be endowed with effective heuristics to efficiently guide them through the search space.