The video shows the experimentation results of the modification of the foot place immediately using an actual human-size humanoid robot HRP-2.
The landing position were changed from 0.2[m] to 0.0[m] in sagittal plane and from 0.0[m] to (+/-)0.05[m] in frontal plane.
The walking pattern was generated just before each single support phase.
Then, it was possible to generate in real-time and achieved to modify the foot placement stably.