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cs.RO2016★ 2 cited
Scaling Sampling-based Motion Planning to Humanoid Robots
Yiming Yang, Vladimir Ivan, Wolfgang Merkt +1
Planning balanced and collision-free motion for humanoid robots is non-trivial, especially when they are operated in complex environments, such as reaching targets behind obstacles…
cs.RO2016
iDRM: Humanoid Motion Planning with Real-Time End-Pose Selection in Complex Environments
Yiming Yang, Vladimir Ivan, Zhibin Li +2
In this paper, we propose a novel inverse Dynamic Reachability Map (iDRM) that allows a floating base system to find valid end-poses in complex and dynamically changing environment…