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Footstep Planning for Biped Robots
Head: James Kuffner
Contact: Joel Chestnutt
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213
Associated center(s) / consortia:
 Center for the Foundations of Robotics (CFR)
Associated lab(s) / group(s):
 Planning and Autonomy Lab
Project Homepage
Publications
  • Online Environment Reconstruction for Biped Navigation

    Philipp Michel, Joel Chestnutt, Satoshi Kagami, Koichi Nishiwaki, James Kuffner, and Takeo Kanade
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'06), May, 2006, pp. 3089 - 3094.
    Details | pdf (2MB) | Copyrighted

  • An Intelligent Joystick for Biped Control

    Joel Chestnutt, Philipp Michel, Koichi Nishiwaki, James Kuffner, and Satoshi Kagami
    Proceedings of the IEEE International Conference on Robotics and Automation, May, 2006, pp. 860 - 865.
    Details | pdf (2MB) | Copyrighted

  • Footstep Planning for the Honda ASIMO Humanoid

    Joel Chestnutt, Manfred Lau, Kong Man Cheung, James Kuffner, Jessica K Hodgins, and Takeo Kanade
    Proceedings of the IEEE International Conference on Robotics and Automation, April, 2005.
    Details | pdf (270KB) | Copyrighted

  • Vision-Guided Humanoid Footstep Planning for Dynamic Environments

    Philipp Michel, Joel Chestnutt, James Kuffner, and Takeo Kanade
    Proceedings of the IEEE-RAS Conference on Humanoid Robots (Humanoids'05), December, 2005, pp. 13 - 18.
    Details | pdf (2MB) | Copyrighted

  • A Tiered Planning Strategy for Biped Navigation

    Joel Chestnutt and James Kuffner
    Proceedings of the IEEE - RAS / RSJ Conference on Humanoid Robots, November, 2004.
    Details | pdf (2MB) | Copyrighted

  • Online Footstep Planning for Humanoid Robots

    James Kuffner, K. Nishiwaki, Satoshi Kagami, Y. Kuniyoshi, M. Inaba, and H. Inoue
    IEEE Int'l Conf. on Robotics and Automation (ICRA'2003), September, 2003.
    Details | pdf (3MB) | Copyrighted

  • Planning Biped Navigation Strategies in Complex Environments

    Joel Chestnutt, James Kuffner, Koichi Nishiwaki, and Satoshi Kagami
    Proceedings of the 2003 International Conference on Humanoid Robots, October, 2003.
    Details | pdf (2MB) | Copyrighted