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[PENDING] Dynamic Walking and Whole-Body Motion Planning for Humanoid Robots: an Integrated Approach

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Academic year: 2024

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Figure 1: The robot HRP-2 passing between two chairs. In this kind of envi- envi-ronment whole-body collision avoidance is needed during locomotion.
Fig. 2 shows resulting random configurations which satisfy both balance (M) and reaching (M g ) constraints for the HRP-2 robot.
Figure 2: Random goal configurations solving a reaching task. All the config- config-urations are balanced and collision-free, and the right hand of the character reaches the orange ball.
Fig. 3 shows an extension of the classic RRT algorithm, from a configuration already in the tree q near towards a random configuration q rand .
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