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

Lecture 18: Humanoids and quadrupeds

By russtedrake

Lecture 18: Humanoids and quadrupeds

MIT Underactuated Robotics Spring 2021 http://underactuated.csail.mit.edu

  • 602