LittleDog robot implementation for Drake.
The details on the implmentation of the generalized footstep planner can be found in our paper: https://arxiv.org/abs/1612.02109
To cite this implementation use the following bibtex:
@article{aceituno2016generalized,
title={A Generalized Mixed-Integer Convex Program for Multilegged Footstep Planning on Uneven Terrain},
author={Aceituno-Cabezas, Bernardo and Cappelletto, Jose and Grieco, Juan C and Fernandez-Lopez, Gerardo},
journal={arXiv preprint arXiv:1612.02109},
year={2016}
}