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Footstep planning for humanoid robots: discrete and continuous approaches

Perrin, Nicolas. Footstep planning for humanoid robots: discrete and continuous approaches. PhD, Institut National Polytechnique de Toulouse, 2011

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Official URL: http://ethesis.inp-toulouse.fr/archive/00001679/


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.

Item Type:PhD Thesis
Uncontrolled Keywords:
Institution:Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
Laboratory name:
Research Director:
Lamiraux, Florent and Stasse, Olivier
Deposited On:21 Nov 2012 12:18

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