Iori Kumagai, Mitsuharu Morisawa, Shin'ichiro Nakaoka, Fumio Kanehiro. On-Site Locomotion Planning for a Humanoid Robot with Stable Whole-Body Collision Avoidance Motion Guided by Footsteps and Centroidal Trajectory. I. J. Humanoid Robotics, 17(1), 2020. [doi]
Abstract is missing.