CS 326 A: Motion Planning Humanoid and Legged Robots.

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CS 326 A: Motion Planning Humanoid and Legged Robots

1. Equilibrium New Concepts Collision avoidance + static equilibrium  feasible region in configuration space Collision avoidance + dynamic equilibrium  feasible region in state space

2. Foot placement New Concepts

2. Foot placement New Concepts

2. Foot placement New Concepts

2. Foot placement New Concepts Gaited vs. non-gaited motions One-step moves vs. multi-step moves

Motion Planning + Motion Capture 3. Motion Planning + Motion Capture treadmill method  treadmill method New Concepts World Hip Base   v p W

4. Aesthetics New Concepts

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