Planning robust walking motion on uneven terrain via convex optimization.
Hongkai DaiRuss TedrakePublished in: Humanoids (2016)
Keyphrases
- convex optimization
- norm minimization
- interior point methods
- motion planning
- humanoid robot
- low rank
- total variation
- convex relaxation
- primal dual
- low rank matrix
- convex formulation
- convex optimization problems
- walking robot
- three dimensional
- motion analysis
- human walking
- basis pursuit
- image restoration
- motion estimation
- optical flow
- moving objects
- image sequences
- alternating direction method of multipliers
- motion model
- feature vectors
- feature space
- rough terrain
- image processing