Whole Body Motion Planning

Whole-body motion planning focuses on coordinating the movement of a robot's entire body, including limbs and base, to achieve complex tasks efficiently and safely. Current research emphasizes developing robust and computationally efficient algorithms, such as Model Predictive Control (MPC) and sampling-based methods like RRT*, to handle dynamic environments and diverse robot morphologies (e.g., legged, wheeled, aerial). These advancements are crucial for enabling autonomous robots to perform intricate manipulations and navigate challenging terrains in applications ranging from planetary exploration to industrial automation. The integration of these planning methods with advanced sensing and control systems is a key area of ongoing development.