Dynamic Programming in Reduced Dimensional Spaces: Dynamic Planning for Robust Biped Locomotion
2005-01-01T00:00:00Z (GMT) by
We explore the use of computational optimal control techniques for automated construction of policies in complex dynamic environments. Our implementation of dynamic programming is performed in a reduced dimensional subspace of a simulated four-DOF biped robot. We show that a computed solution to this problem can be generated and yield empirically stable walking that can handle various types of disturbances.