Hierarchical RRT for humanoid robot footstep planning with multiple constraints in complex environments.

Hong Liu Qing Sun Tianwei Zhang

Published in: IROS (2012)

Keyphrases

humanoid robot
complex environments
multiple constraints
motion planning
human robot interaction
legged locomotion
multi modal
rough terrain
human robot
autonomous agents
joint space
real time
control law
fully autonomous
imitation learning
motion capture
planning problems
path planning
machine learning