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arXiv · 1311.1839

An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion

Scott Kuindersma·Frank Permenter·Russ Tedrake
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Abstract

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.

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Scott Kuindersma, Frank Permenter, Russ Tedrake. 2014-02-18. An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion. https://doi.org/10.1109/icra.2014.6907230

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