Cassie constrained-foothold paper demonstrates MPC footstep control

Evidence notes

• The paper introduces a mixed-integer model-predictive footstep controller for bipedal walking over constrained footholds.
• Hardware experiments on Cassie use real-time elevation mapping and convex terrain decomposition to select steppable terrain.
• The work gives Cassie a benchmark for rough-terrain footstep planning with small feet and limited ankle authority.