TY - GEN
T1 - Real-time footstep planning for humanoid robots among 3D obstacles using a hybrid bounding box
AU - Perrin, Nicolas
AU - Stasse, Olivier
AU - Lamiraux, Florent
AU - Kim, Young J.
AU - Manocha, Dinesh
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84864428997&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2012.6224555
DO - 10.1109/ICRA.2012.6224555
M3 - Conference contribution
AN - SCOPUS:84864428997
SN - 9781467314039
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 977
EP - 982
BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Y2 - 14 May 2012 through 18 May 2012
ER -