So we use something called model predictive control, and that's where you simulate what's gonna happen to the robot, you know, a second into the future. It might be two or three footsteps, and then you use that information to adjust your next footstep. So I think we probably subconsciously think, what's gonna happen if I place my foot here? And it might be simple things like, is the ground gonna be slippery or am I gonna get purchase on the ground? It might be complicated things like, am I gonna speed up or slow down by where I put my feet? And we don't think about those things very often, but robots have to do those computations in order to stay upright.
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