The objective of this project is to build a system capable of autonomously navigating the JPL Robosimian quadruped (https://www.jpl.nasa.gov/news/news.php?feature=4603) through complex and obstacle filled environments, while ensuring non colision, static stablity, and kinematic feasiblity constraints are met. To achieve this goal, three separate planners of different abstraction levels were designed and implemented - a high level trajectory planner, a step sequence planner, and a real time, full body motion planner.
Configuration space planning visualiziation. Note: planning is performed in the simulation world on the right. Generated motion plans are executed by the robot on the left.