Title:
Dynamic Programming in Reduced Dimensional Spaces: Dynamic Planning for Robust Biped Locomotion
Dynamic Programming in Reduced Dimensional Spaces: Dynamic Planning for Robust Biped Locomotion
Author(s)
Stilman, Mike
Atkeson, Christopher G.
Kuffner, James J.
Zeglin, Garth
Atkeson, Christopher G.
Kuffner, James J.
Zeglin, Garth
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Abstract
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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Date Issued
2005-04
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Text
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Proceedings