This assignment will start exploring trajectory generation.

• The SO-101 and planar manipulator arm tracks will both create a cubic spline between two joint configurations.
• The turtlebot track will create a cubic spline between a initial and final global position.
• The biped track will perform the resolved rate and optimal control modules to produce a reference trajectory.

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Table of contents

• Biped
• Piktul Robot Arm
• SO-101 Robot Arm
• Turtlebot