Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization

Author:

Aceituno-Cabezas Bernardo,Mastalli Carlos,Dai Hongkai,Focchi Michele,Radulescu Andreea,Caldwell Darwin G.,Cappelletto Jose,Grieco Juan Carlos,Fernandez-Lopez Gerardo,Semini Claudio

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Subject

Artificial Intelligence,Control and Optimization,Computer Science Applications,Computer Vision and Pattern Recognition,Mechanical Engineering,Human-Computer Interaction,Biomedical Engineering,Control and Systems Engineering

Cited by 70 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Optimization-Based Control for Dynamic Legged Robots;IEEE Transactions on Robotics;2024

2. Feasibility-Aware Plan Adaptation in Humanoid Gait Generation;2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids);2023-12-12

3. Bipedal Walking on Constrained Footholds with MPC Footstep Control;2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids);2023-12-12

4. Perceptive Locomotion Through Nonlinear Model-Predictive Control;IEEE Transactions on Robotics;2023-10

5. Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory Optimization;2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS);2023-10-01

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