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ICRA 2009 - IEEE International Conference on Robotics & Automation, Kobe : Japon (2009)

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

Dimitar Dimitrov1, Pierre-Brice Wieber2, 3, Olivier Stasse2, Joachim Ferreau4, Holger Diedam5

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.

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

inria-00390593, version 1

http://hal.inria.fr/inria-00390593

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Contributeur : Pierre-Brice Wieber <>

Soumis le : Mardi 2 Juin 2009, 14:34:16

Dernière modification le : Mardi 21 Mai 2013, 11:17:15