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Swing-foot clearance is the separation between a robot's swinging foot and the terrain or obstacles it must pass. It concerns the whole swing phase, not just the maximum foot height. For a finite foot, use the relevant lowest material surface or full collision geometry; the height of a chosen ankle coordinate can differ from actual clearance.

An original point-foot model isolates vertical geometry. Let a planned foot position be $(x(s),z(s))$ and terrain height be $H(x)$, with swing parameter $s\in [0,1]$. DefineGround contact at the beginning and end normally gives zero endpoint clearance, so a positive lower bound must be assigned to the obstacle-crossing part of the path rather than incorrectly demanded throughout the closed contact-to-contact interval.

Use the constructed pathSuppose a flat-topped obstacle of height $15\mathrm{mm}$ occupies the horizontal range corresponding to $s\in [1/4,3/4]$, namely $31.25$ to $168.75\mathrm{mm}$. With $h=40\mathrm{mm}$, the lowest foot height over this interval is $h/2=20\mathrm{mm}$, attained at its edges. The minimum nominal obstacle clearance is therefore only $5\mathrm{mm}$ even though peak foot height is $40\mathrm{mm}$.

A robust swing-foot clearance margin includes specified error bounds. If actual foot height can be $3\mathrm{mm}$ below its plan and actual obstacle height $4\mathrm{mm}$ above the model, the guaranteed clearance is at leastThus the nominally clear path permits collision within those bounds. Guaranteeing at least $5\mathrm{mm}$ above this obstacle under the same errors requiresThe bounds add because both deviations can reduce clearance at once; they are deterministic limits, not independent standard uncertainties to combine by root-sum-square.

Greater height changes the leg's motion requirements. For a fixed swing duration $T_w$, this path has maximum vertical speed $\pi h/T_w$ and accelerations proportional to $h/T_w^2$. Clearance, timing, inverse kinematics and actuator constraints must therefore be checked together. A terrain discontinuity, horizontal position error or non-point foot additionally requires the corresponding geometry rather than just this vertical formula.

The primary planning text treats clearance as a possible planning objective and distinguishes local geometric constraints from dynamic ones.^[ref] A proposed robot test measures the foot surface and obstacle geometry in a shared reference frame, records the trajectory throughout the crossing, and compares the minimum separation with the stated bounds. Observing a high midpoint alone does not test the minimum-clearance claim.

The swing phase of a robot leg is the interval in which its foot moves between ground contacts without providing the intended ground support. It complements the stance phase. In a periodic gait with period $T$ and contact duty cycle $\beta$, its duration is $(1-\beta )T$. The leg can still require substantial actuator effort: moving its own mass and controlling its trajectory are different from supporting the robot through ground contact.

An original planar foot path gives an explicit design example. Let $s=t/T_w\in [0,1]$ parameterize a swing of duration $T_w$, horizontal travel $L$ and desired swing-foot clearance $h$ over a flat reference plane. ChooseBoth components have zero endpoint velocity. At mid-swing the foot has moved halfway horizontally and reaches height $h$. The maximum horizontal and vertical speed magnitudes areFor $L=0.20\mathrm{m}$, $h=0.040\mathrm{m}$ and $T_w=0.40\mathrm{s}$, these are $0.75\mathrm{m}{\mathrm{s}}^{-1}$ and about $0.314\mathrm{m}{\mathrm{s}}^{-1}$. Halving the available swing time doubles the path's speed requirements and quadruples its acceleration requirements. A contact schedule can therefore be feasible in timing arithmetic but too demanding for the actual leg.

The path is only a foot-level specification. Inverse kinematics must find joint configurations that realize it, and joint motion, collision and actuator constraints must also hold. Zero endpoint velocity does not guarantee continuous acceleration when this segment is joined to another trajectory. An uncertain or uneven ground height changes the actual clearance and contact time.

The primary contact-planning treatment distinguishes choosing contacts from moving through configuration space between them.^[ref] A proposed robot test measures the foot path, the contact transition and joint response while changing swing duration or clearance. Calibrated sensors can distinguish premature ground contact from a trajectory-tracking error. The example above is an original motion prescription; it is not a measured gait or a complete stability controller.