Online Multi-Contact Motion Replanning for Humanoid Robots with Semantic 3D Voxel Mapping: ExOctomap

This study introduces a rapid motion-replanning technique driven by a semantic 3D voxel mapping system, essential for humanoid robots to autonomously navigate unknown territories through online environmental sensing. Addressing the challenges posed by the conventional approach based on polygon mesh...

Ausführliche Beschreibung

Bibliografische Detailangaben

Hauptverfasser:	Masato Tsuru, Adrien Escande, Iori Kumagai, Masaki Murooka, Kensuke Harada
Format:	Artigo
Sprache:	Inglês
Veröffentlicht:	MDPI AG 2023-10-01
Schriftenreihe:	Sensors
Schlagworte:	humanoid robot multi-contact motion planning voxel mapping
Online-Zugang:	https://www.mdpi.com/1424-8220/23/21/8837
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