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A modified backtrack search is then implemented to solve the resulting constraint satisfaction problem. Both dynamics simulations and real robot experiments show that a humanoid robot is capable of tracking various paths with rapid paces. Comparison with several alternatives verifies the superiority of this novel method in terms of rapidity. <\/jats:p>","DOI":"10.1142\/s0219843616500134","type":"journal-article","created":{"date-parts":[[2016,5,19]],"date-time":"2016-05-19T09:47:43Z","timestamp":1463651263000},"page":"1650013","source":"Crossref","is-referenced-by-count":6,"title":["Footstep Planning for Rapid Path Following in Humanoid Robots"],"prefix":"10.1142","volume":"13","author":[{"given":"Zhang","family":"Jiwen","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Tsinghua University, Beijing 100084, P. R. China"},{"name":"State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, P. R. 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