inria-00390492, version 1
On the Implementation of Model Predictive Control for On-line Walking Pattern Generation
Dimitar Dimitrov 1Joachim Ferreau 2Pierre-Brice Wieber
a, 1Moritz Diehl 2
IEEE International Conference on Robotics & Automation (2008)
Résumé : This article addresses the real-time implemen- tation issues of a model predictive control based walking pattern generation for a humanoid robot. We approximate the multibody dynamic model with a linear discrete time system, and at each step solve a quadratic program in order to keep the output within a predefined set of constraints. The focus is on creating an efficient framework for forming and solving the underlying optimization problem. For that purpose we develop: a) a reliable guess for the active constraints at optimality; b) a fast way of generating an initial feasible point with respect to the set of constraints for each preview interval; c) a variable discretization sampling time. A simple implementation of a standard primal active set algorithm which exploits a “hot start” is used to demonstrate the advantages of the first point, while the latter one is verified using an existing dual solver.
- a – INRIA
- 1 : BIPOP (INRIA Grenoble Rhône-Alpes / LJK Laboratoire Jean Kuntzmann)
- INRIA – Laboratoire Jean Kuntzmann
- 2 : Department of Electrical Engineering (ESAT)
- Katholieke Universiteit Leuven
- Domaine : Informatique/Robotique
Mathématiques/Optimisation et contrôle
Informatique/Automatique
- inria-00390492, version 1
- http://hal.inria.fr/inria-00390492
- oai:hal.inria.fr:inria-00390492
- Contributeur : Pierre-Brice Wieber
- Soumis le : Mardi 2 Juin 2009, 11:51:38
- Dernière modification le : Vendredi 12 Juin 2009, 14:12:53






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