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A mixed-integer convex optimization framework for robust multilegged robot locomotion planning over challenging terrain.
Bernardo Aceituno-Cabezas
Hongkai Dai
José Cappelletto
Juan C. Grieco
Gerardo Fernández-López
Published in:
IROS (2017)
Keyphrases
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convex optimization
norm minimization
mixed integer
rough terrain
mobile robot
quadratic program
legged robots
interior point methods
total variation
convex optimization problems
quadruped robot
feature space
markov random field
image restoration
linear program
convex hull