Paper accepted for ICRA 2020: "SL1M: sparse L1-norm minimization for contact planning on uneven terrain"

This paper proposes a new contact planner for gaited locomotion. The main contribution is that we relax the non-linear problem of selecting the appropriate contact surface for an effector into a convex one using L1-norm minimization. This results in an efficient planner, implemented in only 200 lines of python code.

Read the paper or watch the video. See also the project page.