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First Name: 
Ting
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Zou

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<p>Legged robots have demonstrated high potential when dealing with rough terrain, for which an efficient motion planner becomes crucial. This paper presents a novel approach for quadrupedal robot motion planning on rough terrain, which is both conceptually straightforward and computationally efficient. Implementing the concept of workspace constitutes the cornerstone of this method: both body poses and swing-leg footholds are chosen within their corresponding workspace.

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