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Motion planning and perception : integration on humanoid robots

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Academic year: 2021

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Figure 1.1: HRP platforms. Right to left: HRP2, HRP3 and the last humanoid HRP4.
Figure 1.2: Autonomous robot in an environment: a- Perception, b- Modeling, c- Motion Planning, d- Execution.
Figure 1.3: The humanoid robot HRP2
Figure 2.1: Motion planning concept: Finding a collision free path between an initial and final configurations.
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