Mixed-integer convex optimization for planning aggressive motions of legged robots over rough terrain

Thesis: Sc. D., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016.

[1]  R. Gottlieb.  Rapid convergence to optimum solutions using Min-H Strategy , 1966 .

[2]  M. Vukobratovic,et al.  On the stability of anthropomorphic systems , 1972 .

[3]  E. Dickmanns,et al.  Approximate Solution of Optimal Control Problems Using Third Order Hermite Polynomial Functions , 1974 .

[4]  Klaus H. Well,et al.  Approximate Solution of Optimal Control Problems Using Third Order Hermite Polynomial Functions , 1974, Optimization Techniques.

[5]  Garth P. McCormick,et al.  Computability of global solutions to factorable nonconvex programs: Part I — Convex underestimating problems , 1976, Math. Program..

[6]  E. Balas.  Disjunctive programming and a hierarchy of relaxations for discrete optimization problems , 1985 .

[7]  Francis L. Merat,et al.  Introduction to robotics: Mechanics and control , 1987, IEEE J. Robotics Autom..

[8]  C. Hargraves,et al.  DIRECT TRAJECTORY OPTIMIZATION USING NONLINEAR PROGRAMMING AND COLLOCATION , 1987 .

[9]  S. Sathiya Keerthi,et al.  A fast procedure for computing the distance between complex objects in three-dimensional space , 1988, IEEE J. Robotics Autom..

[10]  M. Hildebrand.  The quadrupedal gaits of vertebrates , 1989 .

[11]  L. Foulds,et al.  A bilinear approach to the pooling problem , 1992 .

[12]  Oskar von Stryk,et al.  Direct and indirect methods for trajectory optimization , 1992, Ann. Oper. Res..

[13]  John T. Betts,et al.  Trajectory Optimization Using Sparse Sequential Quadratic Programming , 1993 .

[14]  I. Grossmann,et al.  Global optimization of bilinear process networks with multicomponent flows , 1995 .

[15]  Steven M. LaValle,et al.  Randomized Kinodynamic Planning , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[16]  Steven M. LaValle,et al.  RRT-connect: An efficient approach to single-query path planning , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[17]  Michael A. Saunders,et al.  SNOPT: An SQP Algorithm for Large-Scale Constrained Optimization , 2002, SIAM J. Optim..

[18]  Kazuhito Yokoi,et al.  Biped walking pattern generation by using preview control of zero-moment point , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[19]  Johannes P. Schlöder,et al.  An efficient multiple shooting based reduced SQP strategy for large-scale dynamic process optimization. Part 1: theoretical aspects , 2003, Comput. Chem. Eng..

[20]  Kazuhito Yokoi,et al.  Resolved momentum control: humanoid motion planning based on the linear and angular momentum , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[21]  Masayuki Inaba,et al.  Online footstep planning for humanoid robots , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[22]  Thierry Siméon,et al.  Dynamic-Domain RRTs: Efficient Exploration by Controlling the Sampling Domain , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[23]  Shuuji Kajita,et al.  A universal stability criterion of the foot contact of legged robots - adios ZMP , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[24]  Miomir Vukobratovic,et al.  Zmp: a Review of Some Basic Misunderstandings , 2006, Int. J. Humanoid Robotics.

[25]  Satoshi Kagami,et al.  An adaptive action model for legged navigation planning , 2007, 2007 7th IEEE-RAS International Conference on Humanoid Robots.

[26]  Jerry E. Pratt,et al.  A Controller for the LittleDog Quadruped Walking on Rough Terrain , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[27]  F. Kanehiro,et al.  A pattern generator of humanoid robots walking on a rough terrain using a handrail , 2007, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[28]  David J. Kriegman,et al.  Globally optimal bilinear programming for computer vision applications , 2008, 2008 IEEE Conference on Computer Vision and Pattern Recognition.

[29]  Andrew Y. Ng,et al.  A control architecture for quadruped locomotion over rough terrain , 2008, 2008 IEEE International Conference on Robotics and Automation.

[30]  Nicholas Roy,et al.  Reliable Dynamic Motions for a Stiff Quadruped , 2009, ISER.

[31]  John T. Betts,et al.  Practical Methods for Optimal Control and Estimation Using Nonlinear Programming , 2009 .

[32]  Steven M. LaValle,et al.  Motion Planning for Highly Constrained Spaces , 2009 .

[33]  Katja D. Mombaur,et al.  Using optimization to create self-stable human-like running , 2009, Robotica.

[34]  Daniel D. Lee,et al.  Search-based planning for a legged robot over rough terrain , 2009, 2009 IEEE International Conference on Robotics and Automation.

[35]  Leo Liberti,et al.  Branching and bounds tighteningtechniques for non-convex MINLP , 2009, Optim. Methods Softw..

[36]  Alberto Caprara,et al.  Bidimensional packing by bilinear programming , 2005, Math. Program..

[37]  Matthew R. Walter,et al.  Reachability-guided sampling for planning under differential constraints , 2009, 2009 IEEE International Conference on Robotics and Automation.

[38]  Andrei Herdt,et al.  Walking without thinking about it , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[39]  K. Mombaur,et al.  Modeling and Optimal Control of Human-Like Running , 2010, IEEE/ASME Transactions on Mechatronics.

[40]  Andrei Herdt,et al.  Online Walking Motion Generation with Automatic Footstep Placement , 2010, Adv. Robotics.

[41]  Emilio Frazzoli,et al.  Anytime Motion Planning using the RRT* , 2011, 2011 IEEE International Conference on Robotics and Automation.

[42]  Olivier Stasse,et al.  Real-time replanning using 3D environment for humanoid robot , 2011, 2011 11th IEEE-RAS International Conference on Humanoid Robots.

[43]  Christopher G. Atkeson,et al.  Optimization and learning for rough terrain legged locomotion , 2011, Int. J. Robotics Res..

[44]  Roland Siegwart,et al.  A MATLAB framework for efficient gait creation , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[45]  Russ Tedrake,et al.  Sample-Based Planning with Volumes in Configuration Space , 2011, ArXiv.

[46]  David L. Woodruff,et al.  Pyomo: modeling and solving mathematical programs in Python , 2011, Math. Program. Comput..

[47]  Stefan Schaal,et al.  Learning, planning, and control for quadruped locomotion over challenging terrain , 2011, Int. J. Robotics Res..

[48]  Adam N. Letchford,et al.  Non-convex mixed-integer nonlinear programming: A survey , 2012 .

[49]  David L. Woodruff,et al.  Pyomo — Optimization Modeling in Python , 2012, Springer Optimization and Its Applications.

[50]  Zoran Popovic,et al.  Discovery of complex behaviors through contact-invariant optimization , 2012, ACM Trans. Graph..

[51]  Stefan Schaal,et al.  Quadratic programming for inverse dynamics with optimal distribution of contact forces , 2012, 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012).

[52]  Florent Lamiraux,et al.  Optimal motion planning for humanoid robots , 2013, 2013 IEEE International Conference on Robotics and Automation.

[53]  Pedro M. Castro,et al.  Multi-parametric disaggregation technique for global optimization of polynomial programming problems , 2013, J. Glob. Optim..

[54]  Léonard Jaillet,et al.  Path Planning Under Kinematic Constraints by Rapidly Exploring Manifolds , 2013, IEEE Transactions on Robotics.

[55]  Pedro M. Castro,et al.  Univariate parameterization for global optimization of mixed-integer polynomial problems , 2013, Eur. J. Oper. Res..

[56]  Pieter Abbeel,et al.  Finding Locally Optimal, Collision-Free Trajectories with Sequential Convex Optimization , 2013, Robotics: Science and Systems.

[57]  Pedro M. Castro,et al.  Global optimization of bilinear programs with a multiparametric disaggregation technique , 2013, Journal of Global Optimization.

[58]  David E. Orin,et al.  Centroidal dynamics of a humanoid robot , 2013, Auton. Robots.

[59]  Robin Deits,et al.  Footstep planning on uneven terrain with mixed-integer convex optimization , 2014, 2014 IEEE-RAS International Conference on Humanoid Robots.

[60]  Russ Tedrake,et al.  Whole-body motion planning with centroidal dynamics and full kinematics , 2014, 2014 IEEE-RAS International Conference on Humanoid Robots.

[61]  Pierre-Brice Wieber,et al.  Hierarchical quadratic programming: Fast online humanoid-robot motion generation , 2014, Int. J. Robotics Res..

[62]  Robin Deits,et al.  Computing Large Convex Regions of Obstacle-Free Space Through Semidefinite Programming , 2014, WAFR.

[63]  Russ Tedrake,et al.  A direct method for trajectory optimization of rigid bodies through contact , 2014, Int. J. Robotics Res..

[64]  Ignacio E. Grossmann,et al.  Review of Mixed‐Integer Nonlinear and Generalized Disjunctive Programming Methods , 2014 .

[65]  Darwin G. Caldwell,et al.  Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[66]  Robin Deits,et al.  Efficient mixed-integer planning for UAVs in cluttered environments , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[67]  Scott Kuindersma,et al.  An Architecture for Online Affordance‐based Perception and Whole‐body Planning , 2015, J. Field Robotics.

[68]  C. Atkeson,et al.  Optimization based controller design and implementation for the Atlas robot in the DARPA Robotics Challenge Finals , 2015, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids).

[69]  Darwin G. Caldwell,et al.  Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[70]  Sangbae Kim,et al.  Online Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupeds , 2015, Robotics: Science and Systems.

[71]  Pedro M. Castro,et al.  Normalized multiparametric disaggregation: an efficient relaxation for mixed-integer bilinear problems , 2016, J. Glob. Optim..

[72]  Scott Kuindersma,et al.  Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot , 2015, Autonomous Robots.