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A sparse model predictive control formulation for walking motion generation
Örebro universitet, Akademin för naturvetenskap och teknik.
Örebro universitet, Akademin för naturvetenskap och teknik.
2011 (engelsk)Inngår i: IEEE/RSJ International conference on Intelligent robots and systems (IROS), IEEE, 2011, s. 2292-2299Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

This article presents a comparison between dense and sparse model predictive control (MPC) formulations, in the context of walking motion generation for humanoid robots. The former formulation leads to smaller, the latter one to larger but more structured optimization problem. We put an accent on the sparse formulation and point out a number of advantages that it presents. In particular, motion generation with variable center of mass (CoM) height, as well as variable discretization of the preview window, come at a negligible additional computational cost. We present a sparse formulation that comprises a diagonal Hessian matrix and has only simple bounds (while still retaining the possibility to generate motions for an omnidirectional walk). Finally, we present the results from a customized code used to solve the underlying quadratic program (QP).

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IEEE, 2011. s. 2292-2299
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URN: urn:nbn:se:oru:diva-22892DOI: 10.1109/IROS.2011.6095035ISBN: 978-1-61284-454-1 (tryckt)OAI: oai:DiVA.org:oru-22892DiVA, id: diva2:527348
Konferanse
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS, 25-30 sept, 2011, San Francisco, CA
Tilgjengelig fra: 2012-05-20 Laget: 2012-05-20 Sist oppdatert: 2017-10-18bibliografisk kontrollert

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  • de-DE
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