CS 326 A: Motion PlanningNew ConceptsSlide 3Slide 4Slide 5Slide 6Slide 7Slide 8CS 326 A: Motion CS 326 A: Motion PlanningPlanningHumanoid and Legged RobotsHumanoid and Legged Robots1. EquilibriumNew ConceptsNew ConceptsCollision avoidance + static equilibrium feasible region in configuration spaceCollision avoidance + dynamic equilibrium feasible region in state space2. Foot placementNew ConceptsNew Concepts2. Foot placementNew ConceptsNew Concepts2. Foot placementNew ConceptsNew Concepts2. Foot placementNew ConceptsNew Concepts• Gaited vs. non-gaited motions• One-step moves vs. multi-step moves3. Motion Planning + Motion CaptureMotion Planning + Motion Capture treadmill methodtreadmill methodNew ConceptsNew ConceptsWorldHipBasevpW4. AestheticsNew ConceptsNew
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