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RI | Publications | Minimax Differential Dynamic Programming: An Application to Robust Biped Walking
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Minimax Differential Dynamic Programming: An Application to Robust Biped Walking
J. Morimoto and C. Atkeson
Neural Information Processing Systems 2002, 2002.
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| Abstract |
We developed a robust control policy design method in high-dimensional state space 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 from the optimal control policy compared to 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.
| Notes |
Associated project: Dynamic Biped
Number of pages: 8
| Text Reference |
J. Morimoto and C. Atkeson, "Minimax Differential Dynamic Programming: An Application to Robust Biped Walking," Neural Information Processing Systems 2002, 2002.
| BibTeX Reference |
@inproceedings{Morimoto_2002_5597,
author = "Jun Morimoto and Chris Atkeson",
title = "Minimax Differential Dynamic Programming: An Application to Robust Biped Walking",
booktitle = "Neural Information Processing Systems 2002",
year = "2002"
}