%0 Conference Paper %B Proceedings of the International Conference on Robotics and Automation (ICRA) %D 2014 %T An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion %A Scott Kuindersma %A Frank Permenter %A Russ Tedrake %X

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.

%B Proceedings of the International Conference on Robotics and Automation (ICRA) %I IEEE %C Hong Kong, China %P 2589–2594 %@ 978-1-4799-3685-4 %G eng %R 10.1109/ICRA.2014.6907230