Dynamic Programming in Reduced Dimensional Spaces: Dynamic Planning for Robust Biped Locomotion
journal contributionposted on 01.01.2005, 00:00 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.