Single Leg Dynamic Motion Planning with Mixed-Integer Convex Optimization

Keyphrases

• Single Leg 100%
• Torque Limit 100%
• Dynamic Motion Planning 100%
• Mixed-integer Convex Optimization 100%
• Leg Dynamics 100%
• Mixed Integer Quadratic Programming 66%
• Discretized 33%
• Disjoint 33%
• Nonconvex 33%
• Global Optimum 33%
• Jacobian Matrix 33%
• Workspace 33%
• Optimization Problem 33%
• Experiment Results 33%
• Rough Terrain 33%
• Ellipsoid 33%
• Dynamic Constraints 33%
• Local Optimum 33%
• Semidefinite Programming 33%
• Program Framework 33%
• Bilinear Terms 33%
• Outer Approximation 33%
• Convex Relaxation 33%
• Actuator Torque 33%
• Difficult Terrain 33%
• McCormick Envelopes 33%
• Polytope Constraints 33%
• Single-legged Robot 33%
• Mixed-integer Convex Programming 33%

Engineering

• Dynamic Motion 100%
• Optimisation Problem 50%
• Jacobian matrix 50%
• Initial Guess 50%
• Global Optimum 50%
• Local Optimum 50%
• Outer Approximation 50%
• Actuator 50%