Leo Baudouin

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In this paper, we propose a novel and coherent framework for fast footstep planning for legged robots on a flat ground with 3-D obstacle avoidance. We use swept volume approximations that are computed offline in order to considerably reduce the time spent in collision checking during the online planning phase, in which a rapidly exploring random tree(More)
—In this paper, we illustrate experimentally an original real-time replanning scheme and architecture for humanoid robot reactive walking. Based on a dense set of actions, our approach uses a large panel of the humanoid robot capabilities and is particularly well suited for 3D collision avoidance. Indeed A* approaches becomes difficult in such situation,(More)
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