The model presented in this section is a Linear Integer Program (LIP), which combines integer variables with binary variables. The objective function and all constraints are linear.

Abstract: Athletic robots demand a whole-body actuation system design that utilizes motors up to the boundaries of their performance. However, creating such robots poses challenges of integrating ...

Equivalently, we can also say that solving a linear program amounts to maximizing a linear function defined over a polytope (preimage or A^ {-1} (leq b)). These definitions, however, do not tell us ...