公开(公告)号：US20170315518A1

公开(公告)日：2017-11-02

申请号：US15203677

申请日：2016-08-19

Applicant: KOREA ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Jun Yong Noh ,  Joseph S. Shin ,  Daseong Han ,  Haegwang Eom

IPC: G05B13/04

CPC classification number: G05B13/048

Abstract: Disclosed is a model predictive control. The model predictive control method includes: receiving an input system dynamics model for a character; performing numerical differentiation to the input system dynamics model by using at least one technique selected from the group consisting of a differentiation information interpolation technique, a physical quantity reuse technique and a contact-space inverse mass matrix (CIMM) technique; and outputting differentiation information for the system dynamics model.