  Although bipedal locomotion provides the ability to traverse unstructured
environments, it requires careful planning and control to safely walk across
without falling. This poses an integrated challenge for the robot to perceive,
plan, and control its movements, especially with dynamic motions where the
robot may have to adapt its swing-leg trajectory onthe-fly in order to safely
place its foot on the uneven terrain. In this paper we present an efficient
geometric footstep planner and the corresponding walking controller that
enables a humanoid robot to dynamically walk across uneven terrain at speeds up
to 0.3 m/s. As dynamic locomotion, we refer first to the continuous walking
motion without stopping, and second to the on-the-fly replanning of the landing
footstep position in middle of the swing phase during the robot gait cycle.
This is mainly achieved through the streamlined integration between an
efficient sampling-based planner and robust walking controller. The footstep
planner is able to generate feasible footsteps within 5 milliseconds, and the
controller is able to generate a new corresponding swing leg trajectory as well
as the wholebody motion to dynamically balance the robot to the newly updated
footsteps. The proposed perception-control pipeline is evaluated and
demonstrated with real experiments using a fullscale humanoid to traverse
across uneven terrains featured by static stepping stones, dynamically movable
stepping stone, or narrow path.
