2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2015
DOI: 10.1109/iros.2015.7353759
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Real-time pattern generation among obstacles for biped robots

Abstract: Abstract-In this paper we present a step-planner embedded in a framework which enables a humanoid robot to navigate among obstacles, exploiting its overall capacities. The system allows the robot to react to changes of user input in real-time while walking at reasonable speeds. The proposed method relies neither on external sensors nor on color coding or textured surfaces. The key idea is to use a fast collision model based on swept-sphere-volumes (SSVs) for real-time generation of collision-free footsteps and… Show more

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Cited by 20 publications
(21 citation statements)
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“…This compact representation of a non-horizontal terrain is computationally very efficient, therefore it was used in most early works on autonomous navigation, as well as in our previous implementation [5]. In 2003 Kagami et al [7] used stereo cameras to create a height-map of the terrain, from which they could also extract walkable planar surfaces.…”
Section: Related Workmentioning
confidence: 99%
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“…This compact representation of a non-horizontal terrain is computationally very efficient, therefore it was used in most early works on autonomous navigation, as well as in our previous implementation [5]. In 2003 Kagami et al [7] used stereo cameras to create a height-map of the terrain, from which they could also extract walkable planar surfaces.…”
Section: Related Workmentioning
confidence: 99%
“…In the feedback control layer the Trajectory optimization takes into account collisions as well as selfcollisions by optimizing all the foot's degrees of freedom. Details are presented in [4], [5].…”
Section: Integration In Walking Controllermentioning
confidence: 99%
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“…foot-ground contact, which are critical in order to maintain balance. In this context, our objective is to further extend our framework for whole-body collision avoidance presented in [17], [18], [19], [20]. In 2014 [18] we proposed a local online optimization technique exploiting all the robot's swing-foot DoFs for stepping over arbitrarily shaped obstacles while avoiding collisions with the environment and self-collisions.…”
Section: Introductionmentioning
confidence: 99%