##### Lembono, T.S., Mastalli, C., Fernbach, P., Mansard, N. and Calinon, S. (2020)

**Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion**

##### In Proc. IEEE Intl Conf. on Robotics and Automation (ICRA), pp. 1357-1363.

### Abstract

In this paper, we propose a framework to build a memory of motion to warm-start an optimal control solver for the locomotion task of the humanoid robot Talos. We use HPP Loco3D, a versatile locomotion planner, to generate offline a set of dynamically consistent whole-body trajectory to be stored as the memory of motion. The learning problem is formulated as a regression problem to predict a single-step motion given the desired contact locations, which is then used as building block for multi-step motions. The predicted trajectory is then used as warm-starts for the fast optimal control solver Crocoddyl. We have shown that the approach manages to reduce the required number of iterations to reach the convergence from âˆ¼9.5 to only âˆ¼3.0 iterations for the single-step motion and from âˆ¼6.2 to âˆ¼4.5 iterations for the multi-step motion, while maintaining the solution's quality.

### Bibtex reference

@inproceedings{Lembono20ICRA, author="Lembono, T. S. and Mastalli, C. and Fernbach, P. and Mansard, N. and Calinon, S.", title="Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion", booktitle="Proc. IEEE Intl Conf. on Robotics and Automation (ICRA)", year="2020", pages="1357--1363" }