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ICRA
2009
IEEE

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

10 years 8 months ago
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 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.
Dimitar Dimitrov, Pierre-Brice Wieber, Olivier Sta
Added 23 May 2010
Updated 23 May 2010
Type Conference
Year 2009
Where ICRA
Authors Dimitar Dimitrov, Pierre-Brice Wieber, Olivier Stasse, Hans Joachim Ferreau, Holger Diedam
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