Motion planner is described in thesis located at thesis.pdf. This is experimental planner that is nowhere close to a state where it is usable. But it is main motivation for development of this project.

As an output of said thesis, these are movements the robot should be capable of.


Plain simple movement where robots moves to it’s side, instead of forward/backwards.

Straight walk around column

Straight walk around column, entire path was figured by the motion planner.

Walk over a waved surface

Walk over waved surface where robot bode stays in straight line.

Straight walk on smallspot

Walk in straight line over small cubicles

Walking over small cubicles and spinning at the same time

Combination of complex moves to stress-test this.