The invention relates to a
biped robot nonlinear model predictive controller FPGA heterogeneous acceleration method, which comprises the following steps: establishing an NMPC model according to a
biped robot dynamic model, iteratively solving a quadratic
programming form of the NMPC model, and completing a single
iteration process: solving by a primitive-dual
interior point method and solving a symmetric linear equation set by a minres
algorithm; the process of solving the solution of the linear equation set constructed by using the KKT condition based on the quadratic
programming form through the primitive-dual
interior point method is configured to be executed by a CPU; the process of solving the symmetric linear equation set by the minres
algorithm is configured to be executed by the FPGA. According to different calculation characteristics of a solution operator in a
biped robot NMPC model, a logic reusable minres
algorithm in the solution process is deployed to an FPGA calculation platform, and nonlinear operation is deployed to a CPU for implementation, so that the calculation power characteristic of a heterogeneous
chip is fully utilized. According to the method,
robot dynamics modeling, an efficient optimization solution algorithm and appropriate computing power
resource allocation are considered, and the acceleration effect and
verification of the algorithm can be ensured.