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Real-time footstep planning for humanoid robots among 3D obstacles using a hybrid bounding box

Title
Real-time footstep planning for humanoid robots among 3D obstacles using a hybrid bounding box
Authors
Perrin N.Stasse O.Lamiraux F.Kim Y.J.Manocha D.
Ewha Authors
김영준
SCOPUS Author ID
김영준scopus
Issue Date
2012
Journal Title
Proceedings - IEEE International Conference on Robotics and Automation
ISSN
1050-4729JCR Link
Citation
pp. 977 - 982
Indexed
SCOPUS scopus
Abstract
In this paper we introduce a new bounding box method for footstep planning for humanoid robots. Similar to the classic bounding box method (which uses a single rectangular box to encompass the robot) it is computationally efficient, easy to implement and can be combined with any rigid body motion planning library. However, unlike the classic bounding box method, our method takes into account the stepping over capabilities of the robot, and generates precise leg trajectories to avoid obstacles on the ground. We demonstrate that this method is well suited for footstep planning in cluttered environments. © 2012 IEEE.
DOI
10.1109/ICRA.2012.6224555
ISBN
9781467314039
Appears in Collections:
엘텍공과대학 > 컴퓨터공학과 > Journal papers
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