PATH OPTIMIZATION FOR HUMANOID WALK PLANNING - An Efficient Approach

Antonio El Khoury, Michel Taïx, Florent Lamiraux

Abstract

This paper deals with humanoid walk planning in cluttered environments. It presents a heuristic and efficient optimization method that takes as input a path computed for the robot bounding box, and produces a path where a discrete set of configurations is reoriented using an A* search algorithm. The resulting trajectory is realistic and time-optimal. This method is validated in various scenarios on the humanoid robot HRP-2.

References

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Paper Citation


in Harvard Style

El Khoury A., Taïx M. and Lamiraux F. (2011). PATH OPTIMIZATION FOR HUMANOID WALK PLANNING - An Efficient Approach . In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-75-1, pages 179-184. DOI: 10.5220/0003530001790184


in Bibtex Style

@conference{icinco11,
author={Antonio El Khoury and Michel Taïx and Florent Lamiraux},
title={PATH OPTIMIZATION FOR HUMANOID WALK PLANNING - An Efficient Approach},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2011},
pages={179-184},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003530001790184},
isbn={978-989-8425-75-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - PATH OPTIMIZATION FOR HUMANOID WALK PLANNING - An Efficient Approach
SN - 978-989-8425-75-1
AU - El Khoury A.
AU - Taïx M.
AU - Lamiraux F.
PY - 2011
SP - 179
EP - 184
DO - 10.5220/0003530001790184