Mahdi Agheli

Trajectory Optimization through Mixed-Integer Optimization of Contact Dynamics for Switching End Effector Locomotion

Trajectory optimizers for legged robots typically assume a single end effector on each leg, often a foot or wheel, without switching to another. Robots employing point-modeled end effectors, compared to those with wheeled end effectors, often benefit in adaptability and maneuverability but at the co…