Planning robust walking motion on uneven terrain via convex optimization

@article{Dai2016PlanningRW,
  title={Planning robust walking motion on uneven terrain via convex optimization},
  author={Hongkai Dai and Russ Tedrake},
  journal={2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)},
  year={2016},
  pages={579-586}
}
In this paper, we present a convex optimization problem to generate Center of Mass (CoM) and momentum trajectories of a walking robot, such that the motion robustly satisfies the friction cone constraints on uneven terrain. We adopt the Contact Wrench Cone (CWC) criterion to measure a robot's dynamical stability, which generalizes the venerable Zero Moment Point (ZMP) criterion. Unlike the ZMP criterion, which is ideal for walking on flat ground with unbounded tangential friction forces, the… CONTINUE READING

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