C-CROC: Continuous and Convex Resolution of Centroidal Dynamic Trajectories for Legged Robots in Multicontact Scenarios.

Synthesizing legged locomotion requires planning one or several steps ahead (literally): when and where, and with which effector should the next contact(s) be created between the robot and the environment? Validating a contact candidate implies a minima the resolution of a slow, nonlinear optimization problem, to demonstrate that a center of mass (CoM) trajectory, compatible with the contact trans...