Stepping Control

Stepping control research focuses on enabling robots and virtual characters to generate stable and adaptable walking gaits, primarily addressing balance and recovery from disturbances. Current approaches leverage models like inverted pendulums and capture point methods, often integrated with model predictive control or reinforcement learning algorithms to optimize step parameters (duration, position) in real-time. This work is significant for improving the robustness and safety of bipedal robots in various applications, including exoskeletons for rehabilitation and humanoid robots for complex environments, as well as enhancing the realism and interactivity of virtual characters.