(Georgia Institute of Technology, 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.