Work done at LAAS-CNRS

The last two months were dedicated to generate feasible optimized motions for the ECHORD final experimental setup with MUSCOD. This demonstrator shows the effectiveness of our two-stage optimal motion planning framework. 

Work done at Uni Heidelberg

The last two months were mostly spent to prepare the Demonstrator.  Improvements were made for the software that directly controls the robot. Furthermore the Framework developed at LAAS-CNRS that computes distances using capsules was integrated in our optimization code base.