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Continuous Humanoid Locomotion

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Published on Dec 1, 2014

Enabled by Online Footstep Planning and Stereo Fusion. All execution here is autonomous

MIT DARPA Robotics Challenge Team

More Details:
http://drc.mit.edu

References:
1. Robin Deits and Russ Tedrake. Footstep planning on uneven terrain with mixed-integer convex optimization. In Proceedings of the 2014 IEEE/RAS International Conference on Humanoid Robots (Humanoids 2014), Madrid, Spain, 2014. Winner of the conference Best Paper Award (Oral)
2. Maurice F. Fallon, Matthew Antone, Nicholas Roy, and Seth Teller. Drift-free humanoid state estimation fusing kinematic, inertial and lidar sensing. In International Conference on Humanoid Robots, Madrid, Spain, 2014.
3. T. Whelan, M. Kaess, H. Johannsson, M.F. Fallon, J.J. Leonard, and J.B. McDonald. Real-time Large Scale Dense RGB-D SLAM with Volumetric Fusion. Intl. J. of Robotics Research, IJRR, 2014. To appear.

System Summary:
4. Scott Kuindersma, Robin Deits, Maurice Fallon, Andrés Valenzuela, Hongkai Dai, Frank Permenter, Twan Koolen, Pat Marion, and Russ Tedrake. Optimization-based locomotion planning, estimation, and control design for the Atlas humanoid robot. Under Review, 2014.

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