An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion

Citation:

S. Kuindersma, F. Permenter, and R. Tedrake, “An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion,” in Proceedings of the International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014, pp. 2589–2594.
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An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion

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.

Notes:

Atlas walking, running, and jumping in simulation

Last updated on 05/27/2016