Sound and fast footstep planning for humanoid robots

Online footstep planning for humanoid robots

We present an online algorithm for planning sequences of footstep locations that encode goal-directed navigation strategies for humanoid robots. Planning footsteps is more general than most existing navigation methods designed for wheeled robots, since the options of stepping over or upon obstacles in a cluttered terrain are available. Given a discrete set of plausible footstep locations, a for...

Footstep planning for humanoid robots: discrete and continuous approaches

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Footstep Planning for Humanoid Robots: Discrete and Continuous Approaches PhD Dissertation

Time Efficient Hybrid Motion Planning Algorithm for HOAP-2 Humanoid Robot

The development of practical motion planning algorithms and obstacle avoidance techniques is considered as one of the most important fields of study in the task of building autonomous or semiautonomous robot systems. The motion planners designed for humanoid robots combine both path planning generation and the ability of executing the resulting path with respect to their characteristics. These ...

Planning Biped Navigation Strategies in Complex Environments

We present an algorithm for planning goal-directed footstep navigation strategies for biped robots through obstacle-filled environments and uneven ground. Planning footsteps is more general than most existing navigation methods designed for wheeled robots, since the options of stepping over or upon obstacles are available. Given a height map of the terrain and a discrete set of possible footste...