@Article{kanoun:ijrr:2011,
  author    = {Kanoun, Oussama and Laumond, Jean-Paul and Yoshida, Eiichi},
  title     = {Planning Foot Placements for a Humanoid Robot: a Problem of Inverse Kinematics},
  journal   = {The International Journal of Robotics Research},
  year      = {2011},
  volume    = {30},
  number    = {4},
  pages     = {476--485},
  month     = {April},
  doi       = {https://doi.org/10.1177/0278364910371238},
  url       = {https://staff.aist.go.jp/e.yoshida/papers/ijrr2011-kanoun.pdf},
  keywords  = {Footstep planning, motion deformation, inverse kinematics},
  abstract  = {We present a novel approach to plan foot placements for a humanoid robot according to kinematic tasks. In this approach, the foot placements are determined by the continuous deformation of a robot motion including a locomotion phase according to the desired tasks. We propose to represent the motion by a virtual kinematic tree composed of a kinematic model of the robot and articulated foot placements. This representation allows us to formulate the motion deformation problem as a classical inverse kinematics problem on a kinematic tree. We first provide details of the basic scheme where the number of footsteps is given in advance and illustrate it with scenarios on the robot HRP-2. Then we propose a general criterion and an algorithm to adapt the number of footsteps progressively to the kinematic goal. The limits and possible extensions of this approach are discussed last.},
  publisher = {Sage Publications Ltd},
  address   = {1 Olivers Yard, 55 City Road, London EC1Y 1SP, England}
}