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...
In this paper, we propose a novel and simple fast block-matching algorithm (BMA), called adaptive rood pattern search (ARPS), which consists of two sequential search stages: 1) ini...
- This paper presents a third-order spline interpolation based trajectory planning method which is aiming to achieve smooth biped swing leg trajectory by reducing the instant veloc...