  Developing feasible body trajectories for legged systems on arbitrary
terrains is a challenging task. In this paper, we present a paradigm that
allows to design feasible Center of Mass (CoM) and body trajectories in an
efficient manner. In our previous work [1], we introduced the notion of the 2D
feasible region, where static balance and the satisfaction of joint torque
limits were guaranteed, whenever the projection of the CoM lied inside the
proposed admissible region. In this work we propose a general formulation of
the improved feasible region that guarantees dynamic balance alongside the
satisfaction of both joint-torque and kinematic limits in an efficient manner.
To incorporate the feasibility of the kinematic limits, we introduce an
algorithm that computes the reachable region of the CoM. Furthermore, we
propose an efficient planning strategy that utilizes the improved feasible
region to design feasible CoM and body orientation trajectories. Finally, we
validate the capabilities of the improved feasible region and the effectiveness
of the proposed planning strategy, using simulations and experiments on the 90
kg Hydraulically actuated Quadruped (HyQ) and the 21 kg Aliengo robots.
