fig2

Figure 2. Examples of three-dimensional whole-body motion primitives starting from an initial state x₀. (A and B) show the primitives generated by sampling the acceleration space (s = 2) and jerk space (s = 3), respectively. The purple cuboids represent the terminal whole-body states after applying a constant control input for τ = 0.2 s. The initial velocity and acceleration are v₀ =[1, 0, 0]$$ ^{\top} $$ and a₀ =[1, 0, 0]$$ ^{\top} $$, respectively.