{"type":"ScholarlyArticle","title":"Real-Time Path Planning for Humanoid Robot Navigation","authors":[{"name":"Jens-Steffen Gutmann","slug":"jens-steffen-gutmann","given":"Jens-Steffen","family":"Gutmann","affiliation":""},{"name":"Masaki Fukuchi","slug":"masaki-fukuchi","given":"Masaki","family":"Fukuchi","affiliation":""},{"name":"Masahiro Fujita","slug":"masahiro-fujita","given":"Masahiro","family":"Fujita","affiliation":""}],"abstract":"We present a data structure and an algorithm for real-time path planning of a humanoid robot. Due to the many degrees of freedom, the robots shape and available actions are approximated for finding solutions efficiently. The resulting 3 dimensional configuration space is searched by the A* algorithm finding solutions in tenths of a second on lowperformance, embedded hardware. Experimental results demonstrate our solution for a robot in a world containing obstacles with different heights, stairs and a higher-level platform.","doi":null,"url":"https://ijcai.org/proceedings/2005/117","pdf":"https://ijcai.org/proceedings/2005/0117.pdf","markdown":"https://ijcai.org/proceedings/2005/117.md","bibtex":"https://ijcai.org/proceedings/2005/bibtex/117","volume":{"slug":"2005","title":"Proceedings of the Nineteenth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2005","url":"https://ijcai.org/proceedings/2005/","year":2005,"location":"Edinburgh, Scotland, UK","dates":"","editors":"","isbn":"","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":null,"track":"","number":117,"pages":{"first":1232,"last":1236},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}