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 3D obstacle avoidance. We use swept volume approximations computed offline in order to considerably reduce the time spent in collision checking during the online planning phase, in which an RRT variant is used to find collision-free(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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