Foot Step Planning Based on A * algorithm

In this project, we proposed an online footstep planning algorithm for a humanoid robot. The algorithm plans an optimal (and collision free) step sequence for a humanoid robot to walk to the target location. In the below simulation, the red rectangle represents the left foot and the blue represents the right foot.

Required packages:

• Openrave
• Python 2.7

Instruction

run

 python foot_step_planning.py