— A motion planner of emergency stop must make an operating humanoid robot to a stationary state under the emergency signal. It plays an important role in prevention of falling o...
Motion planning for humanoids faces several challenging issues: high dimensionality of the configuration space, necessity to address balance constraints in single and double suppo...
— This paper presents a multi-skill motion planner which is able to sequentially synchronize parameterized motion skills in order to achieve humanoid motions exhibiting complex w...
— We present an approach to motion planning for highly articulated systems that aims to ensure robust execution by augmenting the planning process to reason about the robot’s a...
Philipp Michel, Christian Scheurer, James J. Kuffn...
We present an approach to path planning for humanoid robots that computes dynamically-stable, collision-free trajectories from full-body posture goals. Given a geometric model of t...
James J. Kuffner Jr., Satoshi Kagami, Koichi Nishi...