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SOSBipeds

Crude port of some old code from the paper "Michael Posa, Twan Koolen, Russ Tedrake. Balancing and Step Recovery Capturability via Sums-of-Squares Optimization. Robotics: Science and Systems, 2017."

Runfiles are:

  • LIPM
    • lipm2DNstepCapturability.m (single SOS program for outer approximation)
    • lipm2DNStepAlternations.m (sequence of SOS programs for inner approximation)
  • Variable height model
    • lipmHeightVariationCapturability.m (single SOS program for outer approximation)
    • lipmHeightVariationAlternations.m (sequence of SOS programs for inner approximation)