2018
Perception Based Locomotion System for a Humanoid Robot with Adaptive Footstep Compensation under Task Constraints
Iori Kumagai, Mitsuharu Morisawa, Shin'ichiro Nakaoka, Takeshi Sakaguchi, Hiroshi Kaminaga, Kenji Kaneko +1
IROS 2018poster
In order to accurately reach a target position while executing a task which imposes occlusion or constraints of the posture, a humanoid robot requires an adaptive locomotion system, which can comprehensively integrate localization, environmental mapping, global locomotion planning and local error co…