The context of this work is vision-based motion planning for humanoid robots in an unknown
environment. We present an efficient combination of on-line 3D environment modeling and …

Motion planning is one of the key capabilities for autonomous humanoid robots. Previous
researches have focused on weight balancing, collision detection, and gait generation. Most …

This paper considers the problem of planning the motion of a humanoid robot that must
execute a manipulation task, possibly requiring stepping, in environments cluttered by …

Enabling a humanoid robot to move autonomously in a real-life environment presents a
challenging problem. Unlike traditional wheeled robots, legged robots such as humanoid …

This paper proposes an whole body motion planning method for humanoid robots in which
dynamics is integrated. The method consists of two stages. A collision-free and statically …

This work studies locomotion planning of humanoid robots to pass through narrow spaces.
Humanoid robots can alter the style of the locomotion while wheeled robots can not. The …

In this paper, we present an integrated navigation system that allows humanoid robots to
autonomously navigate in unknown, cluttered environments. From the data of an onboard …

We present an approach to path planning for humanoid robots that computes dynamically-
stable, collision-free trajectories from full-body posture goals. Given a geometric model of …

This paper presents a non-gaited motion planner for humanoid robots navigating very
uneven and sloped terrain. The planner allows contact with any pre-designated part of the …

This work addresses the problem of whole-body motion planning for a humanoid robot that
must execute a certain task in an environment containing obstacles. A randomized planner …