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Adaptation of Performed Ballistic Motion
Adaptation of ballistic motion demands a technique that can make required adjustments in anticipation of flight periods when only some physically consistent changes are possible. This article describes a numerical procedure that adjusts a physically consistent motion to fulfill new adaptation requirements expressed in kinematic and dynamic constraints. This iterative procedure refines the original motion with a sequence of minimal adjustments, implicitly favoring motions that are similar to the original performance, and transforming any input motion, including those that are difficult to characterize with an objective function.