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

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

9 April 2019

Bernardo Aceituno-Cabezas

Carlos Mastalli

Hongkai Dai

Darwin G. Caldwell

Gerardo Fernández-López

Claudio Semini

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

8 / 8 papers shown

Title
Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning Ilyass Taouil Lorenzo Amatucci Majid Khadiv Angela Dai Victor Barasuol Giulio Turrisi Claudio Semini 68 0 0 14 Aug 2024
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control Carlos Mastalli Ioannis Havoutis Michele Focchi D. Caldwell Claudio Semini 31 111 0 11 Mar 2020
Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences Carlos Mastalli Ioannis Havoutis Michele Focchi D. Caldwell Claudio Semini 27 36 0 09 Apr 2019
Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain Alexander Winkler Carlos Mastalli Ioannis Havoutis Michele Focchi D. Caldwell Claudio Semini 19 119 0 07 Apr 2019
The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP) Romeo Orsolino Michele Focchi Carlos Mastalli Hongkai Dai D. Caldwell Claudio Semini 25 2 0 07 Dec 2017
Fast Trajectory Optimization for Legged Robots using Vertex-based ZMP Constraints Alexander Winkler Farbod Farshidian D. Pardo Michael Neunert J. Buchli 36 78 0 27 May 2017
A Convex Model of Momentum Dynamics for Multi-Contact Motion Generation Brahayam Pontón Alexander Herzog S. Schaal Ludovic Righetti 24 73 0 28 Jul 2016
Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds Michael Neunert Farbod Farshidian Alexander Winkler J. Buchli 26 120 0 15 Jul 2016