A Monte Carlo tree search and trajectory optimization pipeline that simultaneously chooses contact sequences and contact patches for legged robots, demonstrated on a quadruped and a humanoid.
Limits of mpcc formula- tions in direct optimal control with nonsmooth differential equations,
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Simultaneous Contact Sequence and Patch Planning for Dynamic Locomotion
A Monte Carlo tree search and trajectory optimization pipeline that simultaneously chooses contact sequences and contact patches for legged robots, demonstrated on a quadruped and a humanoid.