Footstep planning on uneven terrain with mixed-integer convex optimization.
Robin DeitsRuss TedrakePublished in: Humanoids (2014)
Keyphrases
- convex optimization
- mixed integer
- rough terrain
- quadratic program
- motion planning
- interior point methods
- linear program
- humanoid robot
- linear programming problems
- feasible solution
- autonomous navigation
- lot sizing
- convex hull
- primal dual
- total variation
- continuous variables
- optimal solution
- convex optimization problems
- robot behavior
- computer vision
- machine learning
- multistage
- tabu search
- image restoration
- denoising
- mobile robot
- high resolution
- lower bound
- face recognition