Humanoid Locomotion
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We present a vision-based approach for navigation of humanoid robots in networks of corridors connected through curves and junctions. The objective of the humanoid is to follow the corridors, walking as close as possible to their center to maximize motion safety, and to turn at curves and junctions...
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We present a method for odometric localization of humanoid robots using standard sensing equipment, i.e., a monocular camera, an inertial measurement unit (IMU), joint encoders and foot pressure sensors. Data from all these sources are integrated using the prediction-correction paradigm of the...
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In this paper we propose an anytime planning/replanning algorithm aimed at generating motions allowing a humanoid to fulfill an assigned task that implicitly requires stepping. The algorithm interleaves planning and execution intervals: a previously planned whole-body motion is executed while...
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