A sparse model predictive control formulation for walking motion generation

Dimitar Dimitrov 1 Alexander Sherikov 1 Pierre-Brice Wieber 2
2 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
Abstract : This article presents a comparison between dense and sparse model predictive control (MPC) formulations, in the context of walking motion generation for humanoid robots. The former formulation leads to smaller, the latter one to larger but more structured optimization problem. We put an accent on the sparse formulation and point out a number of advantages that it presents. In particular, motion generation with variable center of mass (CoM) height, as well as variable discretization of the preview window, come at a negligible additional computational cost. We present a sparse formulation that comprises a diagonal Hessian matrix and has only simple bounds (while still retaining the possibility to generate motions for an omnidirectional walk). Finally, we present the results from a customized code used to solve the underlying quadratic program (QP).
Type de document :
Communication dans un congrès
IROS 2011 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2011, San Francisco, United States. IEEE, pp.2292-2299, 2011, <10.1109/IROS.2011.6095035>
Liste complète des métadonnées


https://hal.inria.fr/hal-00649279
Contributeur : Pierre-Brice Wieber <>
Soumis le : mercredi 7 décembre 2011 - 15:27:24
Dernière modification le : mardi 21 mai 2013 - 22:34:09
Document(s) archivé(s) le : jeudi 8 mars 2012 - 02:30:43

Fichier

paper_iros11.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

Collections

Citation

Dimitar Dimitrov, Alexander Sherikov, Pierre-Brice Wieber. A sparse model predictive control formulation for walking motion generation. IROS 2011 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2011, San Francisco, United States. IEEE, pp.2292-2299, 2011, <10.1109/IROS.2011.6095035>. <hal-00649279>

Partager

Métriques

Consultations de
la notice

472

Téléchargements du document

301