Research paper

Stepping-stone walking · Constraining step length and width

CLF objectives for periodic walking are combined with CBF constraints on step length and width. Numerical evaluation uses a 23-DOF DURUS humanoid model for dynamic 3D foot placement.

Reviewed 2026-11-05 · Source and bibliography checked

Bibliographic details and the editorial overview were checked against the original source. Access conditions and editions are identified with the source.

Original title: 3D dynamic walking on stepping stones with control barrier functions
Publisher: IEEE
Authors: Quan Nguyen, Ayonga Hereid, Jessy W. Grizzle, Aaron D. Ames, Koushil Sreenath
DOI: 10.1109/cdc.2016.7798370
Publication date: 2016-12
Source language: en
Edition: 2016 IEEE 55th Conference on Decision and Control (CDC); 2016-12; DOI 10.1109/cdc.2016.7798370
Access: Publisher metadata and open author manuscript
Publication status: Published

Related resources and engineering notes

Turn each safety function into evidence

Source overview

CLF objectives for periodic walking are combined with CBF constraints on step length and width. Numerical evaluation uses a 23-DOF DURUS humanoid model for dynamic 3D foot placement.

Use and review

Author abstract and bibliography checked. Numerical walking does not replace hardware assessment of falls, friction and contacts.

Sources & editions

3D dynamic walking on stepping stones with control barrier functions ↗

IEEE · 2016 IEEE 55th Conference on Decision and Control (CDC); 2016-12; DOI 10.1109/cdc.2016.7798370

CDC2016 author abstract https://cyberboticslab.com/publication/nguyen-20163-d/ and manuscript https://mae.osu.edu/sites/default/files/2021-06/nguyen20163d.pdf.