This is a humnoid robot motion planning project as part of Robot Intelligence - Planning in Action taught by Assistant Professor Mike Stilman. It utilizes Jacobian methods for the inverse kinematics, potential fields for obstacle avoidance, and bezier curves for acceleration.
Straight Punch with Bezier acceleration
Straight punch with an obstacle in the way.
Avoiding block with potential fields
Accelerated obstacle avoiding punch
Accelerated body punch
Blooper! But technically an accelerated body kick