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Dynamic Biped
Head: Garth Zeglin
Contact: Garth Zeglin
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213
Project Homepage
Publications
  • Poincare-Map-Based Reinforcement Learning for Biped Walking

    Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng, Chris Atkeson, and Garth Zeglin
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'05), April, 2005.
    Details | pdf (452KB) | Copyrighted

  • Dynamic Programming in Reduced Dimensional Spaces: Dynamic Planning For Robust Biped Locomotion

    Michael Stilman, Chris Atkeson, James Kuffner, and Garth Zeglin
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'05), April, 2005, pp. 2399 - 2404.
    Details | pdf (855KB) | Copyrighted

  • Powered bipeds based on passive dynamic principles

    Stuart Anderson, Martijn Wisse, Chris Atkeson, Jessica K Hodgins, Garth Zeglin, and B. Moyer
    5th IEEE-RAS International Conference on Humanoid Robots, December, 2005, pp. 110 - 116.
    Details | pdf (505KB) | Copyrighted

  • A Simple Reinforcement Learning Algorithm For Biped Walking

    Jun Morimoto, Gordon Cheng, Chris Atkeson, and Garth Zeglin
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'04), April, 2004, pp. 3030 - 3035.
    Details | pdf (839KB) | Copyrighted

  • Acquisition of a Biped Walking Pattern Using an Approximate Poincare Map

    Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng, Chris Atkeson, and Garth Zeglin
    Proceedings of the IEEE-RAS/RSJ Int. Conf. on Humanoid Robots (Humanoids 2004), November, 2004, pp. 912 - 924.
    Details | pdf (1MB) | Copyrighted

  • 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.
    Details | pdf (608KB) | Copyrighted

  • Robust Low Torque Biped Walking Using Differential Dynamic Programming with a Minimax Criterion

    Jun Morimoto and Chris Atkeson
    Proceedings of the Fifth International Conference on Climbing an Walking Robots and their Supporting Technologies (CLAWAR 2002), September, 2002.
    Details | pdf (178KB) | Copyrighted

  • Nonparametric Representation of Policies and Value Functions: A Trajectory-Based Approach

    Chris Atkeson and Jun Morimoto
    Neural Information Processing Systems 2002, 2002.
    Details | pdf (265KB) | Copyrighted

  • Minimax Differential Dynamic Programming: An Application to Robust Biped Walking

    Jun Morimoto and Chris Atkeson
    Neural Information Processing Systems 2002, 2002.
    Details | pdf (235KB) | Copyrighted