Kinodynamic Motion Planning for Multi-Legged Robot Jumping via Mixed-Integer Convex Program

  title={Kinodynamic Motion Planning for Multi-Legged Robot Jumping via Mixed-Integer Convex Program},
  author={Yanran Ding and Chuanzheng Li and Hae-won Park},
  journal={2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
This paper proposes a kinodynamic motion plan-ning framework for multi-legged robot jumping based on the mixed-integer convex program (MICP), which simultaneously reasons about centroidal motion, contact points, wrench, and gait sequences. This method uniquely combines configuration space discretization and the construction of feasible wrench polytope (FWP) to encode kinematic constraints, actuator limit, friction cone constraint, and gait sequencing into a single MICP. The MICP could be… 

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