@Article{mombaur:ar:2010,
  author    = {Mombaur, Katja and Laumond, Jean-Paul and Yoshida, Eiichi},
  title     = {An Optimal Control-Based Formulation to Determine Natural Locomotor Paths for Humanoid Robots},
  journal   = {Advanced Robotics},
  year      = {2010},
  volume    = {24},
  number    = {4},
  pages     = {515--535},
  month     = {March},
  doi       = {10.1163/016918610X487090},
  url       = {https://staff.aist.go.jp/e.yoshida/papers/AR10\_final.pdf},
  keywords  = {Biologically inspired path planning, optimal control, locomotion, humanoid, holonomic and non-holonomic walking},
  abstract  = {In this paper we explore the underlying principles of natural locomotion path generation of human beings. The knowledge of these principles is useful to implement biologically inspired path planning algorithms on a humanoid robot. By ‘locomotion path’ we denote the motion of the robot as a whole in the plane. The key to our approach is to formulate the path planning problem as an optimal control problem. We propose a single dynamic model valid for all situations, which includes both non-holonomic and holonomic modes of locomotion, as well as an appropriately designed unified objective function. The choice between holonomic and non-holonomic behavior is not accomplished by a switching model, but it appears in a smooth way, along with the optimal path, as a result of the optimization by efficient numerical techniques. The proposed model and objective function are successfully tested in six different locomotion scenarios. The resulting paths are implemented on the HRP-2 robot in the simulation environment OpenHRP as well as in the experiment on the real robot.},
  publisher = {TAYLOR \& FRANCIS LTD},
  address   = {2-4 PARK SQUARE, MILTON PARK, ABINGDON OR14 4RN, OXON, ENGLAND}
}