Humanoids and quadrupeds

MIT 6.821: Underactuated Robotics

Spring 2023, Lecture 16

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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)


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

Lecture 16: Humanoids and quadrupeds

By russtedrake

Lecture 16: Humanoids and quadrupeds

MIT Underactuated Robotics Spring 2023

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