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Humanoid Robotics Laboratory

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Author: Kuffner, James J. × End date: 2009 × Start date: 2005 × search.filters.applied.f.resourcesubtype: Proceedings ×

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

2005-04 , Stilman, Mike , Atkeson, Christopher G. , Kuffner, James J. , Zeglin, Garth

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 with point feet. 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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