An optimized Linear Model Predictive Control solver for online walking motion generation

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 aspect...

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Hauptverfasser:	Dimitrov, D., Wieber, P.-B., Stasse, O., Ferreau, H.J., Diedam, H.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Automatic control Computational complexity Computer Science Infinite horizon Information technology Informationsteknik Legged locomotion Mathematics Motion control Nonlinear dynamical systems Optimization and Control Orbital robotics Predictive control Predictive models Quadratic programming Reglerteknik Robotics Robotics and automation TECHNOLOGY TEKNIKVETENSKAP
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