Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization.
Bernardo Aceituno-CabezasCarlos MastalliHongkai DaiMichele FocchiAndreea RadulescuDarwin G. CaldwellJosé CappellettoJuan C. GriecoGerardo Fernández-LópezClaudio SeminiPublished in: CoRR (2019)
Keyphrases
- convex optimization
- motion planning
- mixed integer
- humanoid robot
- legged locomotion
- quadratic program
- rough terrain
- degrees of freedom
- interior point methods
- mobile robot
- linear program
- robot arm
- path planning
- lot sizing
- legged robots
- primal dual
- total variation
- feasible solution
- convex hull
- multi modal
- optimal solution
- inverse kinematics
- robotic arm
- convex optimization problems
- evolutionary algorithm
- computer vision
- high resolution
- continuous variables
- genetic algorithm
- graphical models
- machine learning