HPIPM with a sparse MPC formulation is the fastest solver, and the Jetson ARM board is the most power-efficient platform according to the new Solve Frequency per Watt metric.
An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion
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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.
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Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking
HPIPM with a sparse MPC formulation is the fastest solver, and the Jetson ARM board is the most power-efficient platform according to the new Solve Frequency per Watt metric.