Humanoid navigation with dynamic footstep plans


Humanoid robots possess the capability of stepping over or onto objects, which distinguishes them from wheeled robots. When planning paths for humanoids, one therefore should consider an intelligent placement of footsteps instead of choosing detours around obstacles. In this paper, we present an approach to optimal footstep planning for humanoid robots… (More)
DOI: 10.1109/ICRA.2011.5979656


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@article{Garimort2011HumanoidNW, title={Humanoid navigation with dynamic footstep plans}, author={Johannes Garimort and Armin Hornung and Maren Bennewitz}, journal={2011 IEEE International Conference on Robotics and Automation}, year={2011}, pages={3982-3987} }