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Found 2 papers, 1 papers with code
Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization
In this paper, we propose a mixed-integer convex formulation to plan simultaneously contact locations, gait transitions and motion, in a computationally efficient fashion.
A Convex-Combinatorial Model for Planar Caging
Caging is a promising tool which allows a robot to manipulate an object without directly reasoning about the contact dynamics involved.
Robotics
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