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Robot motion planning is not the brand-new topic but not by a long mile. There are several new technologies that help to achieve real-time motion planning, unlike with the previous software advancements. These new planners use devoted hardware that is specifically designed for motion planning. The paper gives an overview of some of our recent efforts to develop motion planning methods for humanoid robots for application tasks involving navigation, footstep placement, object grasping and manipulation, and dynamically-stable full-body motions. We show experimental results obtained by implementations running within a simulation environment as well as on actual humanoid robot hardware.