{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,13]],"date-time":"2025-11-13T18:42:58Z","timestamp":1763059378469,"version":"build-2065373602"},"reference-count":18,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2025,6,16]],"date-time":"2025-06-16T00:00:00Z","timestamp":1750032000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"PNRR MUR project","award":["PE0000013-FAIR"],"award-info":[{"award-number":["PE0000013-FAIR"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>We address the problem of humanoid locomotion in 3D environments consisting of planar regions with arbitrary inclination and elevation, such as staircases, ramps, and multi-floor layouts. The proposed framework combines an offline randomized footstep planner with an online control pipeline that includes a model predictive controller for gait generation and a whole-body controller for computing robot torque commands. The planner efficiently explores the environment and returns the highest-quality plan it can find within a user-specified time budget, while the control layer ensures dynamic balance and adequate ground friction. The complete framework was evaluated via dynamic simulation in MuJoCo, placing the JVRC1 humanoid in four scenarios of varying complexity.<\/jats:p>","DOI":"10.3390\/robotics14060082","type":"journal-article","created":{"date-parts":[[2025,6,16]],"date-time":"2025-06-16T14:03:11Z","timestamp":1750082591000},"page":"82","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Humanoid Motion Generation in Complex 3D Environments"],"prefix":"10.3390","volume":"14","author":[{"given":"Diego","family":"Marussi","sequence":"first","affiliation":[{"name":"Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Sapienza Universit\u00e0 di Roma, Via Ariosto 25, 00185 Rome, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0426-3815","authenticated-orcid":false,"given":"Michele","family":"Cipriano","sequence":"additional","affiliation":[{"name":"Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Sapienza Universit\u00e0 di Roma, Via Ariosto 25, 00185 Rome, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5185-0924","authenticated-orcid":false,"given":"Nicola","family":"Scianca","sequence":"additional","affiliation":[{"name":"Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Sapienza Universit\u00e0 di Roma, Via Ariosto 25, 00185 Rome, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8546-1783","authenticated-orcid":false,"given":"Leonardo","family":"Lanari","sequence":"additional","affiliation":[{"name":"Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Sapienza Universit\u00e0 di Roma, Via Ariosto 25, 00185 Rome, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6153-9278","authenticated-orcid":false,"given":"Giuseppe","family":"Oriolo","sequence":"additional","affiliation":[{"name":"Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Sapienza Universit\u00e0 di Roma, Via Ariosto 25, 00185 Rome, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2025,6,16]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1325","DOI":"10.1177\/0278364908098447","article-title":"Motion Planning for Legged Robots on Varied Terrain","volume":"27","author":"Hauser","year":"2008","journal-title":"Int. J. Robot. Res."},{"key":"ref_2","unstructured":"Chestnutt, J., Lau, M., Cheung, G., Kuffner, J., Hodgins, J., and Kanade, T. (2005, January 18\u201322). Footstep Planning for the Honda ASIMO Humanoid. Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain."},{"key":"ref_3","unstructured":"Gutmann, J.S., Fukuchi, M., and Fujita, M. (August, January 30). Real-time path planning for humanoid robot navigation. Proceedings of the 19th International Joint Conference on Artificial Intelligence, Edinburgh, UK."},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Griffin, R.J., Wiedebach, G., McCrory, S., Bertrand, S., Lee, I., and Pratt, J. (2019, January 15\u201317). Footstep Planning for Autonomous Walking Over Rough Terrain. 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Proceedings of the 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), West Lafayette, IN, USA.","DOI":"10.1109\/SSRR.2015.7443005"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"6563","DOI":"10.1016\/j.ifacol.2020.12.073","article-title":"HPIPM: A high-performance quadratic programming framework for model predictive control","volume":"53","author":"Frison","year":"2020","journal-title":"IFAC-PapersOnLine"}],"container-title":["Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2218-6581\/14\/6\/82\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,9]],"date-time":"2025-10-09T17:53:00Z","timestamp":1760032380000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2218-6581\/14\/6\/82"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,6,16]]},"references-count":18,"journal-issue":{"issue":"6","published-online":{"date-parts":[[2025,6]]}},"alternative-id":["robotics14060082"],"URL":"https:\/\/doi.org\/10.3390\/robotics14060082","relation":{},"ISSN":["2218-6581"],"issn-type":[{"type":"electronic","value":"2218-6581"}],"subject":[],"published":{"date-parts":[[2025,6,16]]}}}