Motion planning

Motion planning is a central topic in most of our research activities. In particular, motion planning is required to enable our robots to plan their behavior and adapt to changing conditions. To this end, a key research challenge is to describe the possible motions of the robot while taking into consideration the kinematic and dynamic constraints of the system.

ROBOTNOR researchers are continuously targeting new methods and algorithms for motion planning of complex mechatronic systems subject to constraints, such as holonomic and nonholonomic constraints, bounded control actions, and the conditions required to achieve desired forces and torques generated by the robot on its environment during contact operations.