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An optimized linear model predictive control solver for online walking motion generation
Örebro universitet, Akademin för naturvetenskap och teknik.
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2009 (engelsk)Inngår i: IEEE International Conference on Robotics and Automation (ICRA '09), IEEE conference proceedings, 2009, s. 1171-1176Konferansepaper, Publicerat paper (Annet vitenskapelig)
Abstract [en]

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. © 2009 IEEE.

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IEEE conference proceedings, 2009. s. 1171-1176
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URN: urn:nbn:se:oru:diva-14238DOI: 10.1109/ROBOT.2009.5152380ISI: 000276080400205Scopus ID: 2-s2.0-70350366584ISBN: 978-1-4244-2788-8 (tryckt)OAI: oai:DiVA.org:oru-14238DiVA, id: diva2:391698
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IEEE International Conference on Robotics and Automation (ICRA '09)
Merknad

Art. No.: 5152380

Tilgjengelig fra: 2011-01-25 Laget: 2011-01-25 Sist oppdatert: 2017-10-18bibliografisk kontrollert

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  • de-DE
  • en-GB
  • en-US
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  • nn-NB
  • sv-SE
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