Humanoids and quadrupeds
MIT 6.821: Underactuated Robotics
Spring 2023, Lecture 16
Follow live at https://slides.com/d/uOjsRfc/live
(or later at https://slides.com/russtedrake/spring24-lec16)
Image credit: Boston Dynamics
http://world.honda.com/ASIMO/video/
Footsteps add a combinatorial aspect to the planning problem:
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Left foot or right foot?
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Cinderblock A or block B?
Explicitly address this combinatorial structure with MIP (specifically MICP)
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 |
Dynamic planning through contact
