A Single-Planner Approach to Multi-Modal Humanoid Mobility

  title={A Single-Planner Approach to Multi-Modal Humanoid Mobility},
  author={Andrew Dornbush and Karthik Vijayakumar and Sameer Bardapurkar and Fahad Islam and Masayuki Ito and Maxim Likhachev},
  journal={2018 IEEE International Conference on Robotics and Automation (ICRA)},
In this work, we present an approach to planning for humanoid mobility. Humanoid mobility is a challenging problem, as the configuration space for a humanoid robot is intractably large, especially if the robot is capable of performing many types of locomotion. For example, a humanoid robot may be able to perform such tasks as bipedal walking, crawling, and climbing. Our approach is to plan for all these tasks within a single search process. This allows the search to reason about all the… CONTINUE READING

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