Weakly collision-free paths for continuous humanoid footstep planning

N. Perrin, O. Stasse, F. Lamiraux, E. Yoshida,
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2011, HAL Publisher Bib

Abstract:

In this paper we demonstrate an original equivalence between footstep planning problems, where discrete sequences of steps are searched for, and the more classical problem of motion planning for a 2D rigid shape, where a continuous collision-free path has to be found. This equivalence enables a lot of classical motion planning techniques (such as PRM, RRT, etc.) to be applied almost effortlessly to the specific problem of footstep planning for a humanoid robot.