7,786 research outputs found
Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach
We introduce a real-time, constrained, nonlinear Model Predictive Control for
the motion planning of legged robots. The proposed approach uses a constrained
optimal control algorithm known as SLQ. We improve the efficiency of this
algorithm by introducing a multi-processing scheme for estimating value
function in its backward pass. This pass has been often calculated as a single
process. This parallel SLQ algorithm can optimize longer time horizons without
proportional increase in its computation time. Thus, our MPC algorithm can
generate optimized trajectories for the next few phases of the motion within
only a few milliseconds. This outperforms the state of the art by at least one
order of magnitude. The performance of the approach is validated on a quadruped
robot for generating dynamic gaits such as trotting.Comment: 8 page
Deflation for semismooth equations
Variational inequalities can in general support distinct solutions. In this
paper we study an algorithm for computing distinct solutions of a variational
inequality, without varying the initial guess supplied to the solver. The
central idea is the combination of a semismooth Newton method with a deflation
operator that eliminates known solutions from consideration. Given one root of
a semismooth residual, deflation constructs a new problem for which a
semismooth Newton method will not converge to the known root, even from the
same initial guess. This enables the discovery of other roots. We prove the
effectiveness of the deflation technique under the same assumptions that
guarantee locally superlinear convergence of a semismooth Newton method. We
demonstrate its utility on various finite- and infinite-dimensional examples
drawn from constrained optimization, game theory, economics and solid
mechanics.Comment: 24 pages, 3 figure
Monitoring a PGD solver for parametric power flow problems with goal-oriented error assessment
This is the peer reviewed version of the following article: [García-Blanco, R., Borzacchiello, D., Chinesta, F., and Diez, P. (2017) Monitoring a PGD solver for parametric power flow problems with goal-oriented error assessment. Int. J. Numer. Meth. Engng, 111: 529–552. doi: 10.1002/nme.5470], which has been published in final form at http://onlinelibrary.wiley.com/doi/10.1002/nme.5470/full. This article may be used for non-commercial purposes in accordance with Wiley Terms and Conditions for Self-Archiving.The parametric analysis of electric grids requires carrying out a large number of Power Flow computations. The different parameters describe loading conditions and grid properties. In this framework, the Proper Generalized Decomposition (PGD) provides a numerical solution explicitly accounting for the parametric dependence. Once the PGD solution is available, exploring the multidimensional parametric space is computationally inexpensive. The aim of this paper is to provide tools to monitor the error associated with this significant computational gain and to guarantee the quality of the PGD solution. In this case, the PGD algorithm consists in three nested loops that correspond to 1) iterating algebraic solver, 2) number of terms in the separable greedy expansion and 3) the alternated directions for each term. In the proposed approach, the three loops are controlled by stopping criteria based on residual goal-oriented error estimates. This allows one for using only the computational resources necessary to achieve the accuracy prescribed by the end- user. The paper discusses how to compute the goal-oriented error estimates. This requires linearizing the error equation and the Quantity of Interest to derive an efficient error representation based on an adjoint problem. The efficiency of the proposed approach is demonstrated on benchmark problems.Peer ReviewedPostprint (author's final draft
- …