References & Citations
Computer Science > Robotics
Title: Accelerating Model Predictive Control for Legged Robots through Distributed Optimization
(Submitted on 18 Mar 2024 (v1), last revised 27 Mar 2024 (this version, v3))
Abstract: This paper presents a novel approach to enhance Model Predictive Control (MPC) for legged robots through Distributed Optimization. Our method focuses on decomposing the robot dynamics into smaller, parallelizable subsystems, and utilizing the Alternating Direction Method of Multipliers (ADMM) to ensure consensus among them. Each subsystem is managed by its own Optimal Control Problem, with ADMM facilitating consistency between their optimizations. This approach not only decreases the computational time but also allows for effective scaling with more complex robot configurations, facilitating the integration of additional subsystems such as articulated arms on a quadruped robot. We demonstrate, through numerical evaluations, the convergence of our approach on two systems with increasing complexity. In addition, we showcase that our approach converges towards the same solution when compared to a state-of-the-art centralized whole-body MPC implementation. Moreover, we quantitatively compare the computational efficiency of our method to the centralized approach, revealing up to a 75\% reduction in computational time. Overall, our approach offers a promising avenue for accelerating MPC solutions for legged robots, paving the way for more effective utilization of the computational performance of modern hardware.
Submission history
From: Giulio Turrisi [view email][v1] Mon, 18 Mar 2024 12:54:33 GMT (8126kb,D)
[v2] Mon, 25 Mar 2024 13:47:06 GMT (8126kb,D)
[v3] Wed, 27 Mar 2024 19:37:49 GMT (8126kb,D)
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