ICRA
2006
IEEE
13 years 10 months ago
2006
IEEE
— Legged robots can, in principle, traverse a large variety of obstacles and terrains. In this paper, we describe a successful application of reinforcement learning to the proble...
IROS
2008
IEEE
13 years 11 months ago
2008
IEEE
— Point stabilization of an underactuated vehicle is most often accomplished using a periodic time-varying control law, resulting in oscillatory trajectories. We present a two-st...
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...
ICRA
2008
IEEE
13 years 11 months ago
2008
IEEE
— Legged robots have the potential to navigate a much larger variety of terrain than their wheeled counterparts. In this paper we present a hierarchical control architecture that...