動的歩行を安定化する効率的に解ける二次計画法
An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion
全身動的歩行制御を凸二次計画問題として定式化し、スパース性と時間構造を活かした専用アクティブセット法で34自由度ヒューマノイドを1kHzで制御可能にした。
著者: Scott Kuindersma, Frank Permenter, Russ Tedrake
分類: cs.RO
原文アブストラクト
We describe a whole-body dynamic walking controller implemented as a convex quadratic program. The controller solves an optimal control problem using an approximate value function derived from a simple walking model while respecting the dynamic, input, and contact constraints of the full robot dynamics. By exploiting sparsity and temporal structure in the optimization with a custom active-set algorithm, we surpass the performance of the best available off-the-shelf solvers and achieve 1kHz control rates for a 34-DOF humanoid. We describe applications to balancing and walking tasks using the simulated Atlas robot in the DARPA Virtual Robotics Challenge.
