file.pdf (835.05 kB)

Dynamic Programming in Reduced Dimensional Spaces: Dynamic Planning for Robust Biped Locomotion

Download (835.05 kB)
journal contribution
posted on 01.01.2005 by Mike Stilman, Christopher G. Atkeson, James J. Kuffner, Garth Zeglin
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.

History

Publisher Statement

"©2005 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE." "This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder."

Date

01/01/2005

Exports

Exports