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

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journal contribution
posted on 2005-01-01, 00:00 authored 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.


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