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RI | Publications | Dynamic Programming in Reduced Dimensional Spaces:
Dynamic Planning For Robust Biped Locomotion
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Text only version of this site
Dynamic Programming in Reduced Dimensional Spaces:
Dynamic Planning For Robust Biped Locomotion
M. Stilman, C. Atkeson, J. Kuffner, and G. Zeglin
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'05), April, 2005, pp. 2399 - 2404.
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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.
| Notes |
Associated project: Dynamic Biped
Number of pages: 6
| Text Reference |
M. Stilman, C. Atkeson, J. Kuffner, and G. 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)",
month = "April",
year = "2005",
pages = "2399 - 2404"
}