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Carnegie Mellon Robotics Institute

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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.

Keywords

dimensionality reduction, dynamic programming, biped locomotion

Notes

Associated Project(s): Dynamic Biped

Number of pages: 6

Text Reference

Michael Stilman, Chris Atkeson, James Kuffner, and Garth Zeglin, "Dynamic Programming in Reduced Dimensional Spaces: Dynamic Planning For Robust Biped Locomotion," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'05), April, 2005, pp. 2399 - 2404.

BibTeX Reference

@inproceedings{Stilman_2005_5226,
   author = "Michael Stilman and Chris Atkeson and James Kuffner and Garth Zeglin",
   title = "Dynamic Programming in Reduced Dimensional Spaces: Dynamic Planning For Robust Biped Locomotion",
   booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'05)",
   pages = "2399 - 2404",
   month = "April",
   year = "2005",
}

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