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

Stilman, Mike; Atkeson, Christopher G.; Kuffner, James J.; Zeglin, Garth

doi:10.1184/R1/6554624.v1

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

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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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2005-01-01

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dimensionality reduction dynamic programming biped locomotion

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

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