An Optimized Linear Model Predictive Control Solver for Online Walking Motion Generation

International audienceThis 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

Model Predictive Control

International audienc

LMPC based online generation of more efficient walking motions

International audienceThis paper proposes solutions to the relative lack of efficiency of walking trajectories generated online. Extensions of a previously introduced Linear Model Predictive Control law are proposed that allow to improve the walking performance through variation of the height of the CoM and toe flexion. Extensive simulations serve to demonstrate the capacity of the improved scheme to generate significantly more efficient walking motions