Author-hosted draft textbook; title page identifies Kris Hauser and the University of Illinois at Urbana-Champaign. Consulted chapter: motion.cs.illinois.edu/RoboticSystems/AdvancedTopicsInPlanning.html . Chapter 12, Contact modeling and Equilibrium conditions, gives unilateral normal reactions, force/torque balance and the horizontal support-polygon model; Multi-modal motion planning, Example 1, notes the limits of the projected hull test on irregular terrain. The numerical reactions and plots in the linked support-polygon article are independent illustrative calculations.
Chapter 12, Manipulation planning and locomotion planning: contact selection and configuration-space motion must be reasoned about together because making or breaking contact changes the system’s dynamics and constraints.
Chapter 8, Stating the motion planning problem and Point-to-point path planning: a continuous configuration-space path must satisfy constraints along its entire length; the chapter distinguishes geometric path planning from dynamics and timing. Completeness and optimality and Explicit vs implicit plans separately discuss finite computation and execution policies.
Chapter 9, C-obstacles for rotational motion and Motion planning in SE(2): orientation-indexed configuration-space obstacle slices, periodic angular grid adjacency and the effect of robot radius on geometric motion bounds.

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