Humanoids and quadrupeds
MIT 6.832: Underactuated Robotics
Spring 2022, Lecture 18
Follow live at https://slides.com/d/GDLYVFE/live
(or later at https://slides.com/russtedrake/spring22-lec18)
Image credit: Boston Dynamics
Footsteps add a combinatorial aspect to the planning problem:
-
Left foot or right foot?
-
Cinderblock A or block B?
Explicitly address this combinatorial structure with MIP (specifically MICP)
Dynamic planning through contact
Example: "Footstep planning" with \(x_{n+1}=Ax_n + Bu_n\)
| Previous best formulations | New formulation | |
|---|---|---|
| Lower Bound (from convex relaxation) |
7% of MICP | 80% of MICP |