convex segmentation and mixed-integer footstep planning for a walking robot
Thesis: S.M., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2014.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2015
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| Online Access: | http://hdl.handle.net/1721.1/92971 |
| _version_ | 1826215295969132544 |
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| author | Deits, Robin L. H. (Robin Lloyd Henderson) |
| author2 | Russ Tedrake. |
| author_facet | Russ Tedrake. Deits, Robin L. H. (Robin Lloyd Henderson) |
| author_sort | Deits, Robin L. H. (Robin Lloyd Henderson) |
| collection | MIT |
| description | Thesis: S.M., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2014. |
| first_indexed | 2024-09-23T16:22:24Z |
| format | Thesis |
| id | mit-1721.1/92971 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T16:22:24Z |
| publishDate | 2015 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/929712019-04-10T17:16:50Z convex segmentation and mixed-integer footstep planning for a walking robot Deits, Robin L. H. (Robin Lloyd Henderson) Russ Tedrake. Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science. Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science. Electrical Engineering and Computer Science. Thesis: S.M., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2014. This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. Cataloged from student-submitted PDF version of thesis. Includes bibliographical references (pages 77-82). This work presents a novel formulation of the footstep planning problem as a mixed-integer convex optimization. The footstep planning problem involves choosing a set of footstep locations which a walking robot can follow to safely reach a goal through an environment with obstacles. Rather than attempting to avoid the obstacles, which would require nonconvex constraints, we use integer variables to assign each footstep to a convex region of obstacle-free terrain, while simultaneously optimizing its pose within that safe region. Since existing methods for generating convex obstacle-free regions were ill-suited to this task, we also present IRIS (Iterative Regional In Inflation by Semidefinite programming), a new method to generate such regions through a series of convex optimizations. Combining IRIS with the mixed-integer optimization gives a complete footstep planning architecture, which can produce complex footstep plans on height map data constructed from onboard sensors. We demonstrate the footstep planner in simulated environments and with real data sensed by the Atlas humanoid, and we discuss future applications to running robots, aerial vehicles, and robots with more than two legs. by Robin L. H. Deits. S.M. 2015-01-20T15:31:08Z 2015-01-20T15:31:08Z 2014 2014 Thesis http://hdl.handle.net/1721.1/92971 900010931 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 82 pages application/pdf Massachusetts Institute of Technology |
| spellingShingle | Electrical Engineering and Computer Science. Deits, Robin L. H. (Robin Lloyd Henderson) convex segmentation and mixed-integer footstep planning for a walking robot |
| title | convex segmentation and mixed-integer footstep planning for a walking robot |
| title_full | convex segmentation and mixed-integer footstep planning for a walking robot |
| title_fullStr | convex segmentation and mixed-integer footstep planning for a walking robot |
| title_full_unstemmed | convex segmentation and mixed-integer footstep planning for a walking robot |
| title_short | convex segmentation and mixed-integer footstep planning for a walking robot |
| title_sort | convex segmentation and mixed integer footstep planning for a walking robot |
| topic | Electrical Engineering and Computer Science. |
| url | http://hdl.handle.net/1721.1/92971 |
| work_keys_str_mv | AT deitsrobinlhrobinlloydhenderson convexsegmentationandmixedintegerfootstepplanningforawalkingrobot |