Multi-contact Walking Pattern Generation based on Model Preview Control of 3D COM Accelerations

We present a multi-contact walking pattern generator based on preview-control of the 3D acceleration of the center of mass (COM). A key point in the design of our algorithm is the calculation of contact-stability constraints. Thanks to a mathematical observation on the algebraic nature of the frictional wrench cone, we show that the 3D volume of feasible COM accelerations is a always a downward-pointing cone. We reduce its computation to a convex hull of (dual) 2D points, for which optimal O(n log n) algorithms are readily available. This reformulation brings a significant speedup compared to previous methods, which allows us to compute time-varying contact-stability criteria fast enough for the control loop. Next, we propose a conservative trajectory-wide contact-stability criterion, which can be derived from COM-acceleration volumes at marginal cost and directly applied in a model-predictive controller. We finally implement this pipeline and exemplify it with the HRP-4 humanoid model in multi-contact dynamically walking scenarios

A Riemannian low-rank method for optimization over semidefinite matrices with block-diagonal constraints

We propose a new algorithm to solve optimization problems of the form $\min f(X)$ for a smooth function $f$ under the constraints that $X$ is positive semidefinite and the diagonal blocks of $X$ are small identity matrices. Such problems often arise as the result of relaxing a rank constraint (lifting). In particular, many estimation tasks involving phases, rotations, orthonormal bases or permutations fit in this framework, and so do certain relaxations of combinatorial problems such as Max-Cut. The proposed algorithm exploits the facts that (1) such formulations admit low-rank solutions, and (2) their rank-restricted versions are smooth optimization problems on a Riemannian manifold. Combining insights from both the Riemannian and the convex geometries of the problem, we characterize when second-order critical points of the smooth problem reveal KKT points of the semidefinite problem. We compare against state of the art, mature software and find that, on certain interesting problem instances, what we call the staircase method is orders of magnitude faster, is more accurate and scales better. Code is available.Comment: 37 pages, 3 figure

Approaching Capacity at High-Rates with Iterative Hard-Decision Decoding

A variety of low-density parity-check (LDPC) ensembles have now been observed to approach capacity with message-passing decoding. However, all of them use soft (i.e., non-binary) messages and a posteriori probability (APP) decoding of their component codes. In this paper, we show that one can approach capacity at high rates using iterative hard-decision decoding (HDD) of generalized product codes. Specifically, a class of spatially-coupled GLDPC codes with BCH component codes is considered, and it is observed that, in the high-rate regime, they can approach capacity under the proposed iterative HDD. These codes can be seen as generalized product codes and are closely related to braided block codes. An iterative HDD algorithm is proposed that enables one to analyze the performance of these codes via density evolution (DE).Comment: 22 pages, this version accepted to the IEEE Transactions on Information Theor