Simultaneous Contact, Gait, and Motion Planning for Robust Multilegged Locomotion via Mixed-Integer Convex Optimization.

Bernardo Aceituno-Cabezas Carlos Mastalli Hongkai Dai Michele Focchi Andreea Radulescu Darwin G. Caldwell José Cappelletto Juan C. Grieco Gerardo Fernández-López Claudio Semini Simultaneous Contact, Gait, and Motion Planning for Robust Multilegged Locomotion via Mixed-Integer Convex Optimization. 2531-2538 2018 3 IEEE Robotics Autom. Lett. 3 https://doi.org/10.1109/LRA.2017.2779821 db/journals/ral/ral3.html#Aceituno-Cabezas18