On the Implementation of Model Predictive Control for On-line Walking Pattern Generation - Inria - Institut national de recherche en sciences et technologies du numérique Accéder directement au contenu
Communication Dans Un Congrès Année : 2008

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

Résumé

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.
Fichier principal
Vignette du fichier
Dimitrov2008ICRA.pdf (280.75 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

inria-00390492 , version 1 (02-06-2009)

Identifiants

Citer

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⟩
258 Consultations
587 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More