Hong Liu, Qing Sun, Tianwei Zhang. Hierarchical RRT for humanoid robot footstep planning with multiple constraints in complex environments. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012, Vilamoura, Algarve, Portugal, October 7-12, 2012. pages 3187-3194, IEEE, 2012. [doi]
Abstract is missing.