By genealizing the contact constraints, we extended HZD gait optimization to generate walking motion on flat ground, stairs and slopes.
This is the project I contributed as a feature example in Robotics System Toolbox (RST) for MATLAB 2018a.
In this project we modified the trajectory optimization thorugh contact, and added several schemes to adjust the gait to be more human-like.
My MS's main project: design the bipedal mechanism and the electronics of a human-sized humanoid robot.