Videos

Note: if you can't view any of these movies and would like them in a different encoding, please email me

Experiments with HRP-2:

Stairs and obstacles:

Experiments with LittleDog:

Experiments with ASIMO:

Static Enviroments:

Dynamic Environments:

Online Experiments with H7:

Renderings of planner in action:

Showing avoidance of tall obstacles:

Tall obstacles
Spikes1
Spikes2

Low obstacles and stairs:

Stairs
Small blocks
Small and large blocks

Rough Terrain:

Rough Environment 1
Rough Environment 2
Rough Environment 3
Rough Environment 4