Practical methods of optimization; (2nd ed.)
Practical methods of optimization; (2nd ed.)
Application of interior-point methods to model predictive control
Journal of Optimization Theory and Applications
Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
| Hi-index | 0.00 |
This article addresses the fast solution of a Quadratic Program underlying a Linear Model Predictive Control scheme that generates walking motions. We introduce an algorithm which is tailored to the particular requirements of this problem, and therefore able to solve it efficiently. Different aspects of the algorithm are examined, its computational complexity is presented, and a numerical comparison with an existing state of the art solver is made. The approach presented here, extends to other general problems in a straightforward way.