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Online Multi-Contact Motion Replanning for Humanoid Robots with Semantic 3D Voxel Mapping: ExOctomap

This study introduces a rapid motion-replanning technique driven by a semantic 3D voxel mapping system, essential for humanoid robots to autonomously navigate unknown territories through online environmental sensing. Addressing the challenges posed by the conventional approach based on polygon mesh...

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Detalles Bibliográficos
Autores principales:	Tsuru, Masato, Escande, Adrien, Kumagai, Iori, Murooka, Masaki, Harada, Kensuke
Formato:	Online Artículo Texto
Lenguaje:	English
Publicado:	MDPI 2023
Materias:	Article
Acceso en línea:	https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10647646/ https://www.ncbi.nlm.nih.gov/pubmed/37960538 http://dx.doi.org/10.3390/s23218837

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