CS 326 A: Motion Planning Humanoid and Legged Robots.
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CS 326 A: Motion CS 326 A: Motion Planning Planning Humanoid and Legged Robots Humanoid and Legged Robots
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Transcript of CS 326 A: Motion Planning Humanoid and Legged Robots.
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
2. Foot placement
New ConceptsNew Concepts
2. Foot placement
New ConceptsNew Concepts
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
4. Aesthetics
New ConceptsNew Concepts
![arXiv:1901.08100v1 [cs.RO] 23 Jan 2019 · 2019-01-25 · Legged Robot, Humanoid Robots, Dynamics 1 Introduction Passive-ankle walking has some key differences with respect to ankle](https://static.fdocuments.net/doc/165x107/5f6e802a0de95a20877db23f/arxiv190108100v1-csro-23-jan-2019-2019-01-25-legged-robot-humanoid-robots.jpg)
