4 search results - page 1 / 1 » Approximate optimal control of the compass gait on rough ter... |
ICRA
2008
IEEE
13 years 11 months ago
2008
IEEE
Abstract— In this paper, we explore the capabilities of actuated models of the compass gait walker on rough terrain. We solve for the optimal high-level feedback policy to negoti...
IROS
2007
IEEE
13 years 11 months ago
2007
IEEE
— This paper presents an algorithm for adapting periodic behavior to gradual shifts in task parameters. Since learning optimal control in high dimensional domains is subject to t...
ICRA
2009
IEEE
13 years 11 months ago
2009
IEEE
— Although there has been an increasing interest in dynamic bipedal locomotion for significant improvement of energy efficiency and dexterity of mobile robots in the real world...
SAB
2010
Springer
13 years 3 months ago
2010
Springer
Abstract. In this paper we study distributed online learning of locomotion gaits for modular robots. The learning is based on a stochastic approximation method, SPSA, which optimiz...