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...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE)
2016
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| Online Access: | http://hdl.handle.net/1721.1/101076 https://orcid.org/0000-0001-9755-3856 https://orcid.org/0000-0002-8712-7092 |