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Weakly collision-free paths for continuous humanoid footstep planning

Abstract : In this paper we demonstrate an original equivalence between footstep planning problems, where discrete sequences of steps are searched for, and the more classical problem of motion planning for a 2D rigid shape, where a continuous collision-free path has to be found. This equivalence enables a lot of classical motion planning techniques (such as PRM, RRT, etc.) to be applied almost effortlessly to the specific problem of footstep planning for a humanoid robot.
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https://hal.archives-ouvertes.fr/hal-00639026
Contributor : Olivier Stasse <>
Submitted on : Tuesday, November 8, 2011 - 2:44:34 AM
Last modification on : Friday, January 10, 2020 - 9:10:09 PM
Long-term archiving on: : Thursday, November 15, 2012 - 11:26:27 AM

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Nicolas Perrin, Olivier Stasse, Florent Lamiraux, Eiichi Yoshida. Weakly collision-free paths for continuous humanoid footstep planning. International Conference on Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ, Sep 2011, San Francisco, United States. pp.4408 -4413, ⟨10.1109/IROS.2011.6048120⟩. ⟨hal-00639026⟩

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