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.