ICRA 2012 Paper Abstract


Paper TuC02.1

Perrin, Nicolas Yves (Istituto Italiano di Tecnologia), Stasse, Olivier (CNRS), Lamiraux, Florent (CNRS), Kim, Young J. (Ewha Womans University), Manocha, Dinesh (UNC at Chapel Hill)

Real-Time Footstep Planning for Humanoid Robots among 3D Obstacles Using a Hybrid Bounding Box

Scheduled for presentation during the Regular Session "Planning and Navigation of Biped Walking" (TuC02), Tuesday, May 15, 2012, 14:30−14:45, Meeting Room 2 (Chief Red Wing)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on November 14, 2018

Keywords Humanoid Robots, Motion and Path Planning, Humanoid and Bipedal Locomotion


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.



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