Learning to Play Like a Pro: Adaptive Motion Planning and Tracking for Humanoid Robots

This White Paper provides roboticists and control engineers with a comprehensive overview of how motion planning and motion tracking can be decoupled to preserve professional athletic style in humanoid robots, and why adaptive, speed-aware control is essential for closing the gap between simulation and real-world deployment. What you will learn about: Why combining a professional athlete’s motion style with reliable task performance remains an open challenge in humanoid ball-sports robotics, and how separating a high-level planner from a low-level tracker addresses this trade-off. How motion d