On the Implementation of Model Predictive Control for On-line Walking Pattern Generation

Dimitar Dimitrov 1 Pierre-Brice Wieber 1 Joachim Ferreau 2 Moritz Diehl 2
1 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 addresses the real-time implementation 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.
Type de document :
Communication dans un congrès
ICRA 2008 - IEEE International Conference on Robotics & Automation, May 2008, Pasadena, CA, United States. pp.2685-2690, 2008, <10.1109/ROBOT.2008.4543617>
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Soumis le : mardi 2 juin 2009 - 11:51:38
Dernière modification le : mercredi 14 décembre 2016 - 01:07:05
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Dimitar Dimitrov, Pierre-Brice Wieber, Joachim Ferreau, Moritz Diehl. On the Implementation of Model Predictive Control for On-line Walking Pattern Generation. ICRA 2008 - IEEE International Conference on Robotics & Automation, May 2008, Pasadena, CA, United States. pp.2685-2690, 2008, <10.1109/ROBOT.2008.4543617>. <inria-00390492>

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