Real-time Walking Path Planning with 3D Collision Avoidance

Abstract — We illustrate an original real-time replanning scheme experimentally for humanoid robot reactive walking. Footsteps are planned as a sequence of “half-steps ” that can be easily integrated with randomized planning methods such as RRT. Combined with an approximation of the volume swept by the robot legs during dynamic walking, our method is able to cope with the collision avoidance for 3D obstacles while maintaining real-time computation. We experimentally validate our approach on the robot HRP-2. I