Efficient Terrain Map Using Planar Regions for Footstep Planning on Humanoid Robots
Bhavyansh Mishra,Duncan Calvert,Sylvain Bertrand,Jerry Pratt,Hakki Erhan Sevil,Robert Griffin,Bhavyansh Mishra,Duncan Calvert,Sylvain Bertrand,Jerry Pratt,Hakki Erhan Sevil,Robert Griffin
Humanoid robots possess the ability to perform complex tasks in challenging environments. However, they require a model of the surroundings in a representation that is sufficient enough for downstream tasks such as footstep planning. The maps generated by existing mapping algorithms are either sparse, insufficient for footstep planning, memory intensive, or too slow for dynamic humanoid behaviors....
