On-Site Locomotion Planning for a Humanoid Robot with Stable Whole-Body Collision Avoidance Motion Guided by Footsteps and Centroidal Trajectory.
Iori KumagaiMitsuharu MorisawaShin'ichiro NakaokaFumio KanehiroPublished in: Int. J. Humanoid Robotics (2020)
Keyphrases
- humanoid robot
- robot motion
- motion planning
- collision avoidance
- collision free
- legged locomotion
- walking speed
- multi modal
- mobile robot
- rough terrain
- path planning
- human motion
- real robot
- joint space
- dynamic environments
- heuristic search
- obstacle avoidance
- motion capture
- configuration space
- planning problems
- motion primitives
- ai planning
- body movements
- degrees of freedom
- fuzzy logic