Motion Planning

Control and motion planning aims to find the most efficient path to reach an end position, potentially involving a combination of movement and rotation to minimize torque. This can include:

• Detecting and avoiding contact with the user's body or clothing, such as a backpack pinching or rubbing against the back.
• Detecting and avoiding collision with the user's limbs.
• Detecting and avoiding obstacles in the environment.
• Predicting the user's movement to aid in limb and obstacle avoidance.

Service idea

A motion planning service could be used in conjunction with other balancing systems in the system. The service would take into account requests for specific end effector or viewing angle positions from other systems and prioritize or combine them to create an optimized motion or positioning plan.

Obstacle avoidance is an important aspect of this service, as the service would need to take into account and plan for any obstacles that may be present in the environment. This would help ensure that the motion or positioning plan is both efficient and safe for the user.

Efficient travel with weight distribution

Depending on how the backpack is oriented, different motions may take more energy efficient for the target positions. Bodily movements may also be taken advantage of to get the a target position. Taking into account a user's stride/gait, and utilizing possible momentum from those movements to reach a higher height or angle.