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