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 ( 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.