Valkyrie footstep planning with MultiSense SL

Valkyrie robot autonomously crossing stepping stones! 

Valkyrie hardware is designed and built by NASA Johnson Space Center and control algorithms are by IHMC Robotics (http://robot.ihmc.us). Point cloud gathered from MultiSense SL LIDAR sensor is then processed to find planar regions in the world. Simple footstep planner plans footsteps on the planar regions, to a goal location specified by the operator. Funding provided by National Robotics Initiative, through NASA Project #NNX12AP97G.