Mixed-integer Nonlinear Programming

Automatic Gait Pattern Selection for Legged Robots
An important issue when synthesizing legged locomotion plans is the combinatorial complexity that arises from gait pattern selection. …
Jiayi Wang, Iordanis Chatzinikolaidis, Carlos Mastalli, Wouter Wolfslag, Guiyang Xin, Steve Tonneau, Sethu Vijayakumar
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Automatic Gait Pattern Selection for Legged Robots