  Despite the great progress in quadrupedal robotics during the last decade,
selecting good contacts (footholds) in highly uneven and cluttered environments
still remains an open challenge. This paper builds upon a state-of-the-art
approach, already successfully used for humanoid robots, and applies it to our
robotic platform; the quadruped robot ANY-mal. The proposed algorithm decouples
the problem into two subprob-lems: first a guide trajectory for the robot is
generated, then contacts are created along this trajectory. Both subproblems
rely on approximations and heuristics that need to be tuned. The main
contribution of this work is to explain how this algorithm has been retuned to
work with ANY-mal and to show the relevance of the approach with a variety of
tests in realistic dynamic simulations.
