HAL - INRIA :: [inria-00390593, version 1] An Optimized Linear Model Predictive Control Solver for Online Walking Motion Generation

inria-00390593, version 1

An Optimized Linear Model Predictive Control Solver for Online Walking Motion Generation

Dimitar Dimitrov ¹, Pierre-Brice Wieber ()^a^, 2, 3, Olivier Stasse ², Joachim Ferreau ⁴, Holger Diedam ⁵

IEEE International Conference on Robotics & Automation (2009)

Résumé : This article addresses the fast solution of a Quadratic Program underlying a Linear Model Predictive Control scheme that generates walking motions. We introduce an algorithm which is tailored to the particular requirements of this problem, and therefore able to solve it efﬁciently. Different aspects of the algorithm are examined, its computational complexity is presented, and a numerical comparison with an existing state of the art solver is made. The approach presented here, extends to other general problems in a straightforward way.

a – INRIA
1 : Örebro University
Örebro University
2 : Joint Robotics Laboratory AIST & CNRS (JRL)
AIST – CNRS : UMI3218
3 : BIPOP (INRIA Grenoble Rhône-Alpes / LJK Laboratoire Jean Kuntzmann)
INRIA – Laboratoire Jean Kuntzmann
4 : Department of Electrical Engineering (ESAT)
Katholieke Universiteit Leuven
5 : Interdisciplinary Center for Scientiﬁc Computing (IWR)
University of Heidelberg

inria-00390593, version 1
http://hal.inria.fr/inria-00390593
oai:hal.inria.fr:inria-00390593
Contributeur : Pierre-Brice Wieber <>
Soumis le : Mardi 2 Juin 2009, 14:34:16
Dernière modification le : Vendredi 12 Juin 2009, 13:53:33

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