FeasibleMotions

FeasibleMotions is a term used in various fields, including robotics, computer graphics, and animation, to describe the set of all possible movements or transformations that a given object or system can undergo while adhering to certain constraints. These constraints can be physical, such as the limits of a robot's joints or the laws of physics, or they can be defined by the application, like the rules of a game or the desired aesthetic of an animation.

In robotics, identifying feasible motions is crucial for path planning and control. A robot arm, for example, has a limited range of motion for each of its joints. The feasible motions are all the configurations the arm can reach without exceeding these limits or colliding with itself or its environment. Algorithms are used to determine these feasible motions to ensure safe and efficient operation.

In computer graphics and animation, feasible motions relate to how characters or objects can move realistically or according to specific artistic intent. This can involve considering factors like the object's shape, mass, and the forces acting upon it. For instance, animating a character to jump requires defining a feasible trajectory that respects gravity and the character's physical capabilities.

The concept of feasible motions often involves defining a state space, which is the set of all possible configurations of the system. Within this state space, the feasible motions represent the paths or trajectories that can be traversed from one state to another. Analyzing and computationally representing these feasible motions is a fundamental challenge in many dynamic systems.