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An optimized linear model predictive control solver for online walking motion generation
Örebro University, School of Science and Technology.
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2009 (English)In: IEEE International Conference on Robotics and Automation (ICRA '09), IEEE conference proceedings, 2009, p. 1171-1176Conference paper, Published paper (Other academic)
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.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2009. p. 1171-1176
National Category
Control Engineering
Research subject
Automatic Control
Identifiers
URN: urn:nbn:se:oru:diva-14238DOI: 10.1109/ROBOT.2009.5152380ISI: 000276080400205Scopus ID: 2-s2.0-70350366584ISBN: 978-1-4244-2788-8 (print)OAI: oai:DiVA.org:oru-14238DiVA, id: diva2:391698
Conference
IEEE International Conference on Robotics and Automation (ICRA '09)
Note

Art. No.: 5152380

Available from: 2011-01-25 Created: 2011-01-25 Last updated: 2017-10-18Bibliographically approved

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Dimitrov, Dimitar N.

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Citation style
  • apa
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  • nn-NB
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  • Other locale
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Output format
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  • asciidoc
  • rtf