Minimax Differential Dynamic Programming: Application to a Biped Walking Robot

Jun Morimoto, Garth Zeglin, and Chris Atkeson
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003.


Download
  • Adobe portable document format (pdf) (608KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
We have developed a robust control policy design method for high-dimensional state spaces by using differential dynamic programming with a minimax criterion. As an example, we applied our method to a simulated five link biped robot. The results show lower joint torques using the optimal control policy compared to torques generated by a hand-tuned PD servo controller. Results also show that the simulated biped robot can successfully walk with unknown disturbances that cause controllers generated by standard differential dynamic programming and the hand-tuned PD servo to fail. Learning to compensate for modeling error and previously unknown disturbances in conjunction with robust control design is also demonstrated. We applied the proposed method to a real biped robot to optimize swing leg trajectories.

Notes
Associated Project(s): Dynamic Biped
Number of pages: 6

Text Reference
Jun Morimoto, Garth Zeglin, and Chris Atkeson, "Minimax Differential Dynamic Programming: Application to a Biped Walking Robot," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003.

BibTeX Reference
@inproceedings{Morimoto_2003_5596,
   author = "Jun Morimoto and Garth Zeglin and Chris Atkeson",
   title = "Minimax Differential Dynamic Programming: Application to a Biped Walking Robot",
   booktitle = "Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems",
   year = "2003",
}