Mixed-Integer Convex Optimization for Planning Aggressive Motions of Legged Robots Over Rough Terrain

This repository contains the source code for the planning approach described in my doctoral thesis.

Name		Name	Last commit message	Last commit date
Latest commit History 50 Commits
.gitignore		.gitignore
Hopper.m		Hopper.m
HopperVisualizer.m		HopperVisualizer.m
LICENSE		LICENSE
README.md		README.md
constructHopperModels.py		constructHopperModels.py
couenne.opt		couenne.opt
hopper.py		hopper.py
hopperUtil.py		hopperUtil.py
mccormick_envelope.py		mccormick_envelope.py
solveHopperModels.py		solveHopperModels.py
startup.m		startup.m
testPyomo.m		testPyomo.m

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.gitignore

.gitignore

Hopper.m

Hopper.m

HopperVisualizer.m

HopperVisualizer.m

LICENSE

LICENSE

README.md

README.md

constructHopperModels.py

constructHopperModels.py

couenne.opt

couenne.opt

hopper.py

hopper.py

hopperUtil.py

hopperUtil.py

mccormick_envelope.py

mccormick_envelope.py

solveHopperModels.py

solveHopperModels.py

startup.m

startup.m

testPyomo.m

testPyomo.m

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Mixed-Integer Convex Optimization for Planning Aggressive Motions of Legged Robots Over Rough Terrain

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Mixed-Integer Convex Optimization for Planning Aggressive Motions of Legged Robots Over Rough Terrain

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