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Footstep planning for humanoid robots: discrete and continuous approaches

Nicolas Perrin 1
1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : In this thesis we investigate two types of approaches for footstep planning for humanoid robots: on one hand the discrete approaches where the robot has only a finite set of possible steps, and on the other hand the approaches where the robot uses continuous feasibility regions. We study these problems both on a theoretical and practical level. In particular, we describe two original, coherent and efficient methods for footstep planning, one in the discrete case (chapter 5), and one in the continuous case (chapter 6). We validate these methods in simulation and with several experiments on the robot HRP-2.
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Submitted on : Friday, December 2, 2011 - 10:16:49 AM
Last modification on : Thursday, June 10, 2021 - 3:05:45 AM
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  • HAL Id : tel-00647469, version 1


Nicolas Perrin. Footstep planning for humanoid robots: discrete and continuous approaches. Robotics [cs.RO]. Institut National Polytechnique de Toulouse - INPT, 2011. English. ⟨tel-00647469⟩



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