Whole Body Locomotion Planning of Humanoid Robots based on a 3D Grid Map.
Fumio KanehiroTakashi YoshimiShuuji KajitaMitsuharu MorisawaKiyoshi FujiwaraKensuke HaradaKenji KanekoHirohisa HirukawaFumiaki TomitaPublished in: ICRA (2005)
Keyphrases
- humanoid robot
- legged locomotion
- motion planning
- rough terrain
- biologically inspired
- multi modal
- robot motion
- human robot interaction
- maximum a posteriori
- human robot
- grid computing
- mobile robot
- walking speed
- motion capture
- planning problems
- degrees of freedom
- human motion
- motor control
- imitation learning
- joint space
- fully autonomous
- robotic systems
- computer vision
- real robot
- body movements
- manipulation tasks
- motor skills
- heuristic search
- state space
- high dimensional