MIT 6.8210: Underactuated Robotics
Spring 2023, Lecture 17
Follow live at https://slides.com/d/GOpH6us/live
(or later at https://slides.com/russtedrake/spring23-lec17)
Image credit: Boston Dynamics
http://world.honda.com/ASIMO/video/
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)
Previous best formulations | New formulation | |
---|---|---|
Lower Bound (from convex relaxation) |
7% of MICP | 80% of MICP |