ADMMによるロボット制御の大規模階層的意思決定

原文アブストラクト

Sparse hierarchical nonlinear programming (SH-NLP) based on the $\ell_0$-norm provides a powerful framework for integrated, efficient hierarchical decision-making in robot kinematic control, for example in the presence of a large set of possible end-effector candidate locations. While Sequential Sparse Hierarchical Quadratic Programming (S-SHQP) with interior-point method based SHQP sub-problem solvers exploit the hierarchical, sparse structure of such problems, they are less amenable to effective warm-starting between subsequent, coherent control steps. In this work, we formulate an Alternating Direction Method of Multipliers (ADMM) to efficiently solve related SHQP sub-problems. We introduce efficient substitutions for auxiliary variables representing $\ell_0$-norm surrogates. The solver efficiently handles separable decision functions by evaluating linear algebra expressions in the appropriate order. Results in large-scale kinematic and dynamic control show reduced computation times of up to 23.5% compared with a structure-exploiting interior-point method in low- to moderate-accuracy regimes. Furthermore, hierarchical decision-making is extended to whole-body dynamic control for humanoid walking, where the need for high-accuracy solutions is highlighted.