Motion planning for humanoids faces several challenging issues: high dimensionality of the configuration space, necessity to address balance constraints in single and double suppo...
— Humanoid robots are expected to share human environments in the future and it is important to ensure safety of their operation. A serious threat to safety is the fall of a huma...
Abstract— Humanoid robots are appealing due to their inherent dexterity. However, these potential benefits may only be realized if the corresponding motion synthesis procedure i...
- Motion planning is one of the key capabilities for autonomous humanoid robots. Previous researches have focused on weight balancing, collision detection, and gait generation. Mos...
We present an online algorithm for planning sequences of footstep locations that encode goal-directed navigation strategies for humanoid robots. Planning footsteps is more general...
James J. Kuffner Jr., Satoshi Kagami, Koichi Nishi...