FOOT-LOCAL PREDICTIVE CONTACT VALIDATION FOR HUMANOID ROBOT LOCOMOTION

A humanoid robot system includes a locomotion controller, robotic foot assembly, foot-local predictive contact validator, and footfall-release controller. A candidate footfall command is received for the robotic foot assembly. Before weight transfer or lower-body actuator execution, the foot-local predictive contact validator evaluates local foot state, terrain state, and body-state context to predict a contact consequence associated with the candidate footfall command. The predicted contact consequence may include slip risk, toe overhang, terrain-compliance mismatch, insufficient contact area, ankle torque overload, or unsafe load transfer. The footfall-release controller evaluates the predicted contact consequence against a footfall-safety policy and selectively releases, modifies, delays, or blocks the candidate footfall command. In some embodiments, a release authorization defines a validator-derived support envelope enforced by one or more downstream actuator controllers.