@Article{harada:tm:2010,
  author    = {Harada, Kensuke and Hattori, Shizuko and Hirukawa, Hirohisa and Morisawa, Mitsuharu and Kajita, Shuuji and Yoshida, Eiichi},
  title     = {Two-Stage Time-Parametrized Gait Planning for Humanoid Robots},
  journal   = {IEEE-ASME Transactions on Mechatronics},
  year      = {2010},
  volume    = {15},
  number    = {5},
  pages     = {694--703},
  month     = {November},
  doi       = {10.1109/TMECH.2009.2032180},
  url       = {http://lars.mec.ua.pt/public/LAR\%20Projects/Humanoid/2011\_WilliamLage/Alguns\%20papers/Two-Stage\%20Time-Parametrized\%20Gait\%20Planning\%20for\%20Humanoid\%20Robots.pdf},
  keywords  = {Biped gait, humanoid robot, motion planning.},
  abstract  = {In this paper, we propose a framework on planning collision-free walking motion for biped humanoid robots. Our proposed planner is composed of two phases. In the first phase, the constraint condition is generated as a function of time by using the walking pattern generator. In the second phase, the collision-free walking motion is planned. To generate the collision-free motion, we add a time parameter to each milestone of the single-query, bidirectional, lazy collision checking planner in order to explicitly consider the time-parametrized constraint conditions. Further, we smoothen the generated path by using B-spline interpolation. Through experimental results, we show that our planner is effective in realizing collision-free walking motion by real humanoid robots.},
  publisher = {IEEE-INST Electrical Electronics Engineers Inc},
  address   = {445 Hoes Lane, Piscataway, NJ 08855-4141, USA}
}