LAAS-CNRS Publications


Weakly collision-free paths for continuous humanoid footstep planning

Rapport LAAS No11577
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco (USA), 25-30 Septembre 2011, pp.4408-4413


In this paper we demonstrate an original equivalence between footstep planning problems, where discrete sequences of steps are searched for, and the more classical problem of motion planning for a 2D rigid shape, where a continuous collision-free path has to be found. This equivalence enables a lot of classical motion planning techniques (such as PRM, RRT, etc.) to be applied almost effortlessly to the specific problem of footstep planning for a humanoid robot.

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Affectations: Le mouvement humanoïde ( GEPETTO ) AIST, Tsukuba, Japon ( AIST )

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