Sciweavers

Share
ICRA
2005
IEEE

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

9 years 4 months ago
Dynamic Programming in Reduced Dimensional Spaces: Dynamic Planning For Robust Biped Locomotion
— 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.
Mike Stilman, Christopher G. Atkeson, James Kuffne
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Mike Stilman, Christopher G. Atkeson, James Kuffner, Garth Zeglin
Comments (0)
books