@inproceedings{257e7fd474b64ee98d102a76c6b699c0,
title = "Whole body locomotion planning of humanoid robots based on a 3D grid map",
abstract = "This paper proposes a method for a humanoid robot to generate 3D model of the environment using a stereo vision, find a movable space using it and plan feasible locomotion online. The model is generated by an accumulation of 3D grid maps which are made from the range data of the field of view obtained by a correlation based stereo vision. The locomotion is planned by an online whole body pattern generator which can modify robot's waist height, an upper body posture and so on according to the size of the movable space.",
keywords = "3D grid map, Humanoid robot, Stereo vision, Whole body locomotion",
author = "Fumio Kanehiro and Takashi Yoshimi and Shuuji Kajita and Mitsuharu Morisawa and Kiyoshi Fujiwara and Kensuke Harada and Kenji Kaneko and Hirohisa Hirukawa and Fumiaki Tomita",
year = "2005",
month = dec,
day = "1",
doi = "10.1109/ROBOT.2005.1570258",
language = "English",
isbn = "078038914X",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
pages = "1072--1078",
booktitle = "Proceedings of the 2005 IEEE International Conference on Robotics and Automation",
note = "2005 IEEE International Conference on Robotics and Automation ; Conference date: 18-04-2005 Through 22-04-2005",
}