| 摘要 |
PROBLEM TO BE SOLVED: To quickly determine an optimum solution to an optimization problem in a model prediction control.SOLUTION: An optimum control device comprises: contact point planning means setting a contact point plan of moving means of a moving robot; and trajectory generation means. The trajectory generation means performs a model prediction control of calculating a state variable of a center of gravity using an evaluation criterion in a prediction zone, and generating a gravity trajectory on the basis of the calculated state variable of the center of gravity. The evaluation criterion minimizes an evaluation function including a square of a quantity based on a contact force at each contact point in the prediction zone. An equation constraint conditional optimization problem including the evaluation criterion, a state equation, and an equation constraint condition expressed by a moving robot linear equation is converted into a non-constraint conditional optimization problem that does not include the equation constraint condition using an orthogonal complementary space. The trajectory generation means determines an optimum solution to this non-constraint conditional optimization problem using a recursive calculation method, and calculates the state variable of the center of gravity on the basis of the determined optimum solution.SELECTED DRAWING: Figure 1 |
