Robot Boxing

Boxing Robot

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

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