An efficiently solvable quadratic program for stabilizing dynamic locomotion
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 dynam...
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| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers (IEEE)
2014
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| Online Access: | http://hdl.handle.net/1721.1/90913 https://orcid.org/0000-0002-8935-7449 https://orcid.org/0000-0002-8712-7092 |
| _version_ | 1826209423476916224 |
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| author | Kuindersma, Scott Permenter, Frank Noble Tedrake, Russell Louis |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Kuindersma, Scott Permenter, Frank Noble Tedrake, Russell Louis |
| author_sort | Kuindersma, Scott |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T14:22:17Z |
| format | Article |
| id | mit-1721.1/90913 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T14:22:17Z |
| publishDate | 2014 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/909132022-10-01T20:52:10Z An efficiently solvable quadratic program for stabilizing dynamic locomotion Kuindersma, Scott Permenter, Frank Noble Tedrake, Russell Louis Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Kuindersma, Scott Permenter, Frank Noble Tedrake, Russell Louis 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. United States. Air Force Research Laboratory (Contract FA8750-12-1-0321) National Science Foundation (U.S.) (Contract ERC-1028725) National Science Foundation (U.S.) (Contract IIS-1161909) National Science Foundation (U.S.) (Contract IIS-0746194) 2014-10-14T14:20:31Z 2014-10-14T14:20:31Z 2014-05 Article http://purl.org/eprint/type/ConferencePaper 978-1-4799-3685-4 http://hdl.handle.net/1721.1/90913 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). https://orcid.org/0000-0002-8935-7449 https://orcid.org/0000-0002-8712-7092 en_US http://dx.doi.org/10.1109/ICRA.2014.6907230 Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA) Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) MIT web domain |
| spellingShingle | Kuindersma, Scott Permenter, Frank Noble Tedrake, Russell Louis An efficiently solvable quadratic program for stabilizing dynamic locomotion |
| title | An efficiently solvable quadratic program for stabilizing dynamic locomotion |
| title_full | An efficiently solvable quadratic program for stabilizing dynamic locomotion |
| title_fullStr | An efficiently solvable quadratic program for stabilizing dynamic locomotion |
| title_full_unstemmed | An efficiently solvable quadratic program for stabilizing dynamic locomotion |
| title_short | An efficiently solvable quadratic program for stabilizing dynamic locomotion |
| title_sort | efficiently solvable quadratic program for stabilizing dynamic locomotion |
| url | http://hdl.handle.net/1721.1/90913 https://orcid.org/0000-0002-8935-7449 https://orcid.org/0000-0002-8712-7092 |
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