Iori Kumagai, M. Morisawa, Shin'ichiro Nakaoka, F. Kanehiro
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On-Site Locomotion Planning for a Humanoid Robot with Stable Whole-Body Collision Avoidance Motion Guided by Footsteps and Centroidal Trajectory
In this paper, we propose a locomotion planning framework for a humanoid robot with stable whole-body collision avoidance motion, which enables the robot to traverse an unknown narrow space on the ...
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