10.1184/R1/6555545.v1 Jun Morimoto Jun Morimoto Christopher G. Atkeson Christopher G. Atkeson Minimax Differential Dynamic Programming: An Application to Robust Biped Walking Carnegie Mellon University 2003 Robotics 2003-01-01 00:00:00 Journal contribution https://kilthub.cmu.edu/articles/journal_contribution/Minimax_Differential_Dynamic_Programming_An_Application_to_Robust_Biped_Walking/6555545 We developed a robust control policy design method in high-dimensional state space by using differential dynamic programming with a minimax criterion. As an example, we applied our method to a simulated five link biped robot. The results show lower joint torques from the optimal control policy compared to a hand-tuned PD servo controller. Results also show that the simulated biped robot can successfully walk with unknown disturbances that cause controllers generated by standard differential dynamic programming and the hand-tuned PD servo to fail. Learning to compensate for modeling error and previously unknown disturbances in conjunction with robust control design is also demonstrated.