1. CS 326 A: Motion Planning Humanoid and Legged Robots

2. 1. Equilibrium New Concepts Collision avoidance + static equilibrium  feasible region in configuration space Collision avoidance + dynamic equilibrium  feasible region in state space

3. 2. Foot placement New Concepts

4. 2. Foot placement New Concepts

5. 2. Foot placement New Concepts

6. 2. Foot placement New Concepts Gaited vs. non-gaited motions One-step moves vs. multi-step moves

7. Motion Planning + Motion Capture 3. Motion Planning + Motion Capture treadmill method  treadmill method New Concepts World Hip Base   v p W

8. 4. Aesthetics New Concepts