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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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Page 1: 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

Page 2: CS 326 A: Motion Planning Humanoid 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

Page 3: CS 326 A: Motion Planning Humanoid and Legged Robots

2. Foot placement

New ConceptsNew Concepts

Page 4: CS 326 A: Motion Planning Humanoid and Legged Robots

2. Foot placement

New ConceptsNew Concepts

Page 5: CS 326 A: Motion Planning Humanoid and Legged Robots

2. Foot placement

New ConceptsNew Concepts

Page 6: CS 326 A: Motion Planning Humanoid and Legged Robots

2. Foot placement

New ConceptsNew Concepts

• Gaited vs. non-gaited motions• One-step moves vs. multi-step moves

Page 7: CS 326 A: Motion Planning Humanoid and Legged Robots

3. Motion Planning + Motion CaptureMotion Planning + Motion Capture treadmill methodtreadmill method

New ConceptsNew Concepts

World

Hip

Base

v

pW

Page 8: CS 326 A: Motion Planning Humanoid and Legged Robots

4. Aesthetics

New ConceptsNew Concepts


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Early Legged Machines in the 19th Century 193 Legged ...users.wpi.edu/~mpopovic/pages/Biomechanics_and... · Legged Robots during 1970–1980 197 Legged Robots during 1980–1990

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Humanoid Robotics: A Reference - link.springer.com978-94-007-6046-2/1.pdf · Preface Bipedal walking is evident from the earliest homininis, but why our unique two-legged gait evolved

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

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DESIGN AND ANALYSIS OF FOUR-LEGGED WALL-CLIMBING ROBOT · Legged robots can be mainly divided into the eight-legged, six-legged, four-legged, etc. Among them, the four-legged walking

Humanoid Robots