Footstep planning on uneven terrain with mixed-integer convex optimization

We present a new method for planning footstep placements for a robot walking on uneven terrain with obstacles, using a mixed-integer quadratically-constrained quadratic program (MIQCQP). Our approach is unique in that it handles obstacle avoidance, kinematic reachability, and rotation of footstep pl...

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Bibliographic Details
Main Authors: Deits, Robin Lloyd Henderson, Tedrake, Russell Louis
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Format: Article
Language:en_US
Published: Institute of Electrical and Electronics Engineers (IEEE) 2016
Online Access:http://hdl.handle.net/1721.1/101076
https://orcid.org/0000-0001-9755-3856
https://orcid.org/0000-0002-8712-7092
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