Journal ArticleDOI
Whole-body motion and footstep planning for humanoid robots with multi-heuristic search
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This work treats motion planning as a graph search problem, and employs Shared Multi-heuristic A* (SMHA*) to generate efficient, stable and collision-free motion plans given only the starting state of the robot and the desired end-effector pose.About:
This article is published in Robotics and Autonomous Systems.The article was published on 2019-06-01. It has received 2 citations till now. The article focuses on the topics: Motion planning & Humanoid robot.read more
Citations
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Journal ArticleDOI
A hybrid technique for path planning of humanoid robot NAO in static and dynamic terrains
TL;DR: The proposed hybridization of the Dynamic Window Approach and the Teaching–Learning-Based Optimization technique and its implementation on the NAO humanoid robot for navigation have been presented and it is evident that the proposed technique is robust and efficient for the path planning of humanoid robots.
Journal ArticleDOI
Better decision-making strategy with target seeking approach of humanoids using hybridized SOARANN-fuzzy technique
TL;DR: In this paper , an intelligent data fusion model is embedded between SOAR and ANN for converting the logical sequence information of SOAR to probabilistic vectors in multilayer ANNs.
References
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Journal ArticleDOI
A Formal Basis for the Heuristic Determination of Minimum Cost Paths
TL;DR: How heuristic information from the problem domain can be incorporated into a formal mathematical theory of graph searching is described and an optimality property of a class of search strategies is demonstrated.
Proceedings Article
Fast approximate nearest neighbors with automatic algorithm configuration
Marius Muja,David G. Lowe +1 more
TL;DR: A system that answers the question, “What is the fastest approximate nearest-neighbor algorithm for my data?” and a new algorithm that applies priority search on hierarchical k-means trees, which is found to provide the best known performance on many datasets.
Journal ArticleDOI
Zero-moment point — thirty five years of its life
TL;DR: The paper gives an in-depth discussion of source results concerning ZMP, paying particular attention to some delicate issues that may lead to confusion if this method is applied in a mechanistic manner onto irregular cases of artificial gait, i.e. in the case of loss of dynamic balance of a humanoid robot.
Proceedings ArticleDOI
The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation
TL;DR: Geometric nature of trajectories under the 3D-LIPM and a method for walking pattern generation are discussed, and a simulation result of a walking control using a 12-DOF biped robot model is shown.
Proceedings ArticleDOI
STOMP: Stochastic trajectory optimization for motion planning
TL;DR: It is experimentally show that the stochastic nature of STOMP allows it to overcome local minima that gradient-based methods like CHOMP can get stuck in.