Effective Footstep Planning for Humanoids Using Homotopy-Class Guidance Vinitha Ranganeni, Oren Salzman & Maxim Likhachev Planning for Humanoids Homotopy Classes O 2 O 3 O 1 τ 1 τ 2 τ 3 x s x g ζ 2 ζ 3 ζ 1 ζ 4 t 1 t 2 t 3 t 4 x s x g τ 1 and τ 2 are in the same homotopy class but τ 3 is not because of obstacle O 1. τ The signature s of path τ is t 1 t 2 t 4 -1 {vrangane, osalzman}@andrew.cmu.edu, [email protected] Extract Homotopy Class 2D (projected) workspace 2D (projected) workspace 2D (projected) workspace User Paths Footstep Planning Using MHA* Framework Full-D Planner (Guided by Footstep Planner) Full-D C-Space 6D C-Space Project Configuration 6D 2D Algorithmic Overview Path Quality Future Work Homotopic-Based Heuristic • Extend to more complex environments—stairs and ladders • Automatically generate homotopy classes Compute Heuristic on demand via HBSP Low High Low Results High Complex queries Simple queries Complex queries Simple queries S.1. One baseline heuristic S.2. One baseline heuristic and one homotopy-based heuristic S.3. One baseline heuristic and three homotopy-based heuristics High Low High Low Baseline Heuristic