Fast humanoid robot collision-free footstep planning using swept volume approximations

IEEE Transactions on Robotics

Volumn 28, Issue 2, 2012, Pages 427-439

  Perrin, Nicolas ^a,b   Stasse, Olivier ^a   Baudouin, Léo ^a   Lamiraux, Florent ^a   Yoshida, Eiichi ^b  

^a INSA   (France)

^b National Institute of Advanced Industrial Science and Technology   (Japan)

Author keywords

Footstep generation; humanoid robots; motion planning; obstacle avoidance

Indexed keywords

COHERENT FRAMEWORKS; COLLISION-CHECKING; FOOTSTEP GENERATION; FOOTSTEP PLANNING; HOMOTOPIES; HUMANOID ROBOT; LEGGED ROBOTS; OFFLINE; ON-LINE PLANNING; RAPIDLY-EXPLORING RANDOM TREES; SWEPT VOLUME; TIME SPENT; WALKING PATTERN GENERATOR;

ANTHROPOMORPHIC ROBOTS; COLLISION AVOIDANCE; MOTION PLANNING;

ROBOT PROGRAMMING;

EID: 84859767515     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2011.2172152     Document Type: Article

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