  This paper proposes a kinodynamic motion planning framework for multi-legged
robot jumping based on the mixed-integer convex program (MICP), which
simultaneously reasons about centroidal motion, contact points, wrench, and
gait sequences. This method uniquely combines configuration space
discretization and the construction of feasible wrench polytope (FWP) to encode
kinematic constraints, actuator limit, friction cone constraint, and gait
sequencing into a single MICP. The MICP could be efficiently solved to the
global optimum by off-the-shelf numerical solvers and provide highly dynamic
jumping motions without requiring initial guesses. Simulation and experimental
results demonstrate that the proposed method could find novel and dexterous
maneuvers that are directly deployable on the two-legged robot platform to
traverse through challenging terrains.
