1. A method of planning a path of a robot, the method comprising: recognizing, by at least one processor, a start point and a goal point respectively corresponding to an initial configuration and a goal configuration of a manipulator of the robot; estimating, by the at least one processor, a dynamic constraint of the manipulator of the robot; searching, by the at least one processor, in configuration space for a path satisfying a constraint including obstacle avoidance from the start point to the goal point; and generating, by the at least one processor, a path satisfying the dynamic constraint from the searched path, wherein the dynamic constraint relates to at least one of speed and balance.