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)