# On-line and on-board planning and perception for quadrupedal locomotion

arXiv: https://arxiv.org/abs/1904.03693 · HTML: https://mlsanity.com/paper/1904.03693/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 7 Apr 2019.

## Built on by (most cited first, 5 of 5)

- [Legged Locomotion in Challenging Terrains using Egocentric Vision](https://mlsanity.com/paper/2211.07638/) (2022)
- [Robot Parkour Learning](https://mlsanity.com/paper/2309.05665/) (2023)
- [Coupling Vision and Proprioception for Navigation of Legged Robots](https://mlsanity.com/paper/2112.02094/) (2021)
- [Hiking in the Wild: A Scalable Perceptive Parkour Framework for Humanoids](https://mlsanity.com/paper/2601.07718/) (2026)
- [DeepCPG Policies for Robot Locomotion](https://mlsanity.com/paper/2302.13191/) (2023)

## Abstract (arXiv)

We present a legged motion planning approach for quadrupedal locomotion over challenging terrain. We decompose the problem into body action planning and footstep planning. We use a lattice representation together with a set of defined body movement primitives for computing a body action plan. The lattice representation allows us to plan versatile movements that ensure feasibility for every possible plan. To this end, we propose a set of rules that define the footstep search regions and footstep sequence given a body action. We use Anytime Repairing A* (ARA*) search that guarantees bounded suboptimal plans. Our main contribution is a planning approach that generates on-line versatile movements. Experimental trials demonstrate the performance of our planning approach in a set of challenging terrain conditions. The terrain information and plans are computed on-line and on-board.