Simultaneous Contact, Gait, and Motion Planning for Robust Multilegged Locomotion via Mixed-Integer Convex Optimization.
Bernardo Aceituno-CabezasCarlos MastalliHongkai DaiMichele FocchiAndreea RadulescuDarwin G. CaldwellJosé CappellettoJuan C. GriecoGerardo Fernández-LópezClaudio SeminiPublished in: IEEE Robotics Autom. Lett. (2018)
Keyphrases
- convex optimization
- motion planning
- mixed integer
- degrees of freedom
- quadratic program
- mobile robot
- linear program
- interior point methods
- linear programming problems
- path planning
- primal dual
- total variation
- lot sizing
- humanoid robot
- feasible solution
- convex hull
- convex optimization problems
- multi robot
- image restoration
- optimal solution
- continuous variables
- multistage
- linear programming