Remember ANYmal? It is a quadrupedal robot capable of navigating challenging terrain. It can plan its path and select footholds while walking. Researchers at Robotic Systems Lab have come up with a real-time control method that allows it to execute trot, dynamic lateral walk, jumping and other gaits.
An online ZMP based motion planner is used to “continuously update the reference motion trajectory as a function of the contact schedule and the state of the robot. […] Reference footholds for each leg are obtained by solving an optimization problem. The optimized motion plans are tracked by a hierarchical whole-body controller.”