Motion planning under complex kinematic and dynamic constraints

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Motion planning under complex kinematic and
dynamic constraints

• Complex kinematic chains
• Climbing robots
• Humanoids
• Dynamic constraints
• Maintain equilibrium
• Plan quasi-static motion

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Motion planning

• Parametrize the configuration space
• Impose the constraints
• Sample the configuration space
• Impose the constraints
• Construct the roadmap

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Full-body motion for humanoid robots
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Climbing