Dynamic Programming in Reduced Dimensional Spaces: Dynamic Planning For Robust Biped Locomotion
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 2399 - 2404, April, 2005
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.
BibTeX
@conference{Stilman-2005-9159,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 (ICRA) International Conference on Robotics and Automation},
year = {2005},
month = {April},
pages = {2399 - 2404},
keywords = {dimensionality reduction, dynamic programming, biped locomotion},
}
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