Post on 19-Dec-2015
CS 326 A: Motion PlanningCS 326 A: Motion Planning
Humanoid and Legged RobotsHumanoid and Legged Robots
1. Equilibrium
New ConceptsNew Concepts
Collision avoidance + static equilibrium feasible region in configuration spaceCollision avoidance + dynamic equilibrium feasible region in state space
2. Foot placement
New ConceptsNew Concepts
• Gaited vs. non-gaited motions• One-step moves vs. multi-step moves
3. Motion Planning + Motion CaptureMotion Planning + Motion Capture treadmill methodtreadmill method
New ConceptsNew Concepts
World
Hip
Base
v
pW