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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 [2007-2015] - Laboratoire Jean Kuntzmann [2007-2015], Grenoble INP [2007-2019] - Institut polytechnique de Grenoble - Grenoble Institute of Technology [2007-2019]
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.
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Contributor : Pierre-Brice Wieber <>
Submitted on : Tuesday, June 2, 2009 - 11:51:38 AM
Last modification on : Friday, July 17, 2020 - 11:38:57 AM
Long-term archiving on: : Friday, June 11, 2010 - 12:10:38 AM


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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, ⟨10.1109/ROBOT.2008.4543617⟩. ⟨inria-00390492⟩



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