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A Humanoid That Chooses Contact Points to Cross Terrain

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Using LiDAR terrain perception, this humanoid chooses hand, foot and knee contacts, then uses one control stack for climbing ladders, crawling and recovering after falls.

HumanoidLocomotionWhole-Body ControlLiDARSim-to-RealETH ZurichObstacle Crossing
Category: humanoid
Author: @ZappyZappy7
Date: 2026-10-25T00:00:00
Duration: 72.733s
Source: https://x.com/ZappyZappy7/status/2114361332963381308
Reference: https://leggedrobotics.github.io/ACP/

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