A Generalized Mixed-Integer Convex Program for Multilegged Footstep Planning on Uneven Terrain
A Generalized Mixed-Integer Convex Program for Multilegged Footstep Planning on Uneven Terrain
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Ithaca: Cornell University Library, arXiv.org
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English
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Ithaca: Cornell University Library, arXiv.org
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Contents
Robot footstep planning strategies can be divided in two main approaches: discrete searches and continuous optimizations. While discrete searches have been broadly applied, continuous optimizations approaches have been restricted for humanoid platforms. This article introduces a generalized continuous-optimization approach for multilegged footstep...
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A Generalized Mixed-Integer Convex Program for Multilegged Footstep Planning on Uneven Terrain
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TN_cdi_proquest_journals_2075294650
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https://devfeature-collection.sl.nsw.gov.au/record/TN_cdi_proquest_journals_2075294650
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2331-8422
