Stepmoving

Stepmoving is a method in robotics and computer animation in which a moving agent progresses through a sequence of small, discrete steps between poses rather than following a single continuous trajectory. The approach emphasizes incremental state changes to improve stability, obstacle clearance, and controllability in systems with complex dynamics or limited sensing.

In planning, a stepmoving planner generates a chain of intermediate configurations converging toward the goal, with each step computed to satisfy constraints such as joint limits, momentum, and collision avoidance. In execution, actuators perform the step with feedback; after each step the system can re-evaluate the environment, enabling replanning.

Origins and scope: The term stepmoving emerged in robotics literature during the 2010s, though related ideas trace to earlier discrete-control and interpolation strategies. Variants include adaptive stepmoving (variable step size) and multi-step stepmoving, which coordinates several steps in a higher-level plan to balance speed and safety.

Applications span humanoid robots, robotic arms, prosthetics, computer animation, virtual reality locomotion, and warehouse automation. The approach can simplify control in rough terrain or cluttered spaces by ensuring each step maintains balance and avoids obstacles.

Advantages include improved stability, easier integration with perception, and fault tolerance through frequent re-evaluation. Limitations involve slower overall movement, potential accumulation of small tracking errors, and higher planning complexity in high-DOF systems.

See also: motion planning; interpolation; discrete control; stepper motor control.