A general approach for coordinating the legs of a multi-legged statically stable walking machine on an uneven terrain. The method of ordinal optimization is used to find a good motion plan for low travel time that specifies the footholds and the gait of the walking machine. Numerical simulations illustrate the approach and demonstrate that we can find a good motion plan for uneven terrain with high complexity in a reasonably short time.
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Chen et al. (1998) studied this question.
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