LittleDog robot implementation for Drake.
The details on the implmentation of the generalized footstep planner can be found in our paper: http://ieeexplore.ieee.org/document/8206313/
To cite this implementation use the following bibtex:
@INPROCEEDINGS{8206313,
author={B. Aceituno-Cabezas and H. Dai and J. Cappelletto and J. C. Grieco and G. Fernández-López},
booktitle={2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={A mixed-integer convex optimization framework for robust multilegged robot locomotion planning over challenging terrain},
year={2017},
pages={4467-4472},
doi={10.1109/IROS.2017.8206313},
month={Sept}
}