journal contribution posted on 01.01.2005, 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
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