A fast algorithm is presented that can handle the motion planning problem for articulated figures with branches and many degrees of freedom. The algorithm breaks down the degrees of freedom of the figure into Cspace groups and compute the free motion for each of these groups in a sequential fashion. It traverses the tree in a depth first order to compute the motion for all the branches. A special playback routine is then used to traverse the tree again in a reverse order to playback the final motion. The planner runs in linear time with respect to the total number of Cspace groups without backtracking. We believe that the planner would find a path in most cases and is fast enough for practical use in a wide range of applications
