Efficient Locomotion Planning for a Humanoid Robot with Whole-Body Collision Avoidance Guided by Footsteps and Centroidal Sway Motion

Iori Kumagai, Mitsuharu Morisawa, Shinichiro Nakaoka, Fumio Kanehiro. Efficient Locomotion Planning for a Humanoid Robot with Whole-Body Collision Avoidance Guided by Footsteps and Centroidal Sway Motion. In 18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018, Beijing, China, November 6-9, 2018. pages 251-256, IEEE, 2018. [doi]

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