— 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...
— We present a method for computing controllers for stable planar-biped walking gaits that follow a particular style. The desired style is specified with a kinematic target traj...
In this paper, we propose a control system that changes the compliance based on the walking speed to stabilize biped walking on rough terrain. The proposed system does not use the ...
Masaki Ogino, Hiroyuki Toyama, Sawa Fuke, Norbert ...
We present a novel method to control a biped humanoid robot to walk on unknown inclined terrains, using an online learning algorithm to estimate in real-time the local terrain fro...
— In this paper, we propose a control system that changes the compliance based on the walking speed to stabilize biped walking on rough terrain. The proposed system does not use ...