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Solving Footstep Planning as a Feasibility Problem Using L1-Norm Minimization
- Title
- Solving Footstep Planning as a Feasibility Problem Using L1-Norm Minimization
- Authors
- Song, Daeun; Fernbach, Pierre; Flayols, Thomas; Prete, Andrea Del; Mansard, Nicolas; Tonneau, Steve; Kim, Young J.
- Ewha Authors
- 김영준
- SCOPUS Author ID
- 김영준
- Issue Date
- 2021
- Journal Title
- IEEE ROBOTICS AND AUTOMATION LETTERS
- ISSN
- 2377-3766
- Citation
- IEEE ROBOTICS AND AUTOMATION LETTERS vol. 6, no. 3, pp. 5961 - 5968
- Keywords
- Humanoid and bipedal locomotion; legged robots; motion and path planning
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Indexed
- SCIE; SCOPUS
- Document Type
- Article
- Abstract
- One challenge of legged locomotion on uneven terrains is to deal with both the discrete problem of selecting a contact surface for each footstep and the continuous problem of placing each footstep on the selected surface. Consequently, footstep planning can be addressed with a Mixed Integer Program (MIP), an elegant but computationally demanding method, which can make it unsuitable for online planning. We reformulate the MIP into a cardinality problem, then approximate it as a computationally efficient similar to 1-norm minimisation, called SL1M. Moreover, we improve the performance and convergence of SL1M by combining it with a sampling-based root trajectory planner to prune irrelevant surface candidates. Our tests on the humanoid Talos in four representative scenarios show that SL1M always converges faster than MIP. For scenarios when the combinatorial complexity is small (< 10 surfaces per step), SL1M converges at least two times faster than MIP with no need for pruning. In more complex cases, SL1M converges up to 100 times faster thanMIP with the help of pruning. Moreover, pruning can also improve the MIP computation time. The versatility of the framework is shown with additional tests on the quadruped robot ANYmal.
- DOI
- 10.1109/LRA.2021.3088797
- Appears in Collections:
- 인공지능대학 > 컴퓨터공학과 > Journal papers
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