---
title: "Real-Time Path Planning for Humanoid Robot Navigation"
authors:
  - "Jens-Steffen Gutmann"
  - "Masaki Fukuchi"
  - "Masahiro Fujita"
doi: ""
url: "https://ijcai.org/proceedings/2005/117"
pdf: "https://ijcai.org/proceedings/2005/0117.pdf"
venue: "Proceedings of the Nineteenth International Joint Conference on Artificial Intelligence"
year: 2005
pages: "1232-1236"
track: ""
keywords:
---

# Real-Time Path Planning for Humanoid Robot Navigation

Jens-Steffen Gutmann, Masaki Fukuchi, Masahiro Fujita

*Proceedings of the Nineteenth International Joint Conference on Artificial Intelligence*, pages 1232-1236.

## 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.