歩行生成の計算時間を減らすアルゴリズム

参考文献[1]をもとに考えていく.
footstep planning はとても計算コストがかかる. fast online walking pattern generator(WPG)が重要.

realtime walking motion generation としてLinear Inverted Pendulum Model (LIPM) がよく使われる.

センサーデータ解析の計算負荷

Decreasing the number of control inputs is a solution
to improve efficiency in the MPC

Haar and Laguerre functionsを使う

Haar functions are used
to build a transformation matrix which changes the signal
from time domain into wavelet domain.

 

 

 

【参考文献】
1. Humanoid walking pattern generation based on model predictive control approximated with basis functions