An efficiently solvable quadratic program for stabilizing dynamic locomotion
Author(s)Kuindersma, Scott; Permenter, Frank Noble; Tedrake, Russell Louis
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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.
DepartmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory; Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA)
Institute of Electrical and Electronics Engineers (IEEE)
Kuindersma, Scott, Frank Permenter, and Russ Tedrake. “An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion.” 2014 IEEE International Conference on Robotics and Automation (ICRA) (May 2014).
Author's final manuscript