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Summary: Controlling Velocity In Bipedal Walking:
A Dynamic Programming Approach
Thijs Mandersloot and Martijn Wisse
Delft University of Technology
Delft, Netherlands
thijs.mandersloot@gmail.com, m.wisse@tudelft.nl
Christopher G. Atkeson
Robotics Institute, Carnegie Mellon University
Pittsburgh, PA 15213, USA
cga@cmu.edu
Abstract-- We are interested in adding actuation to passive
dynamic walkers to enable them to control their velocity. We
control velocity by using dynamic programming to design control
laws for each desired velocity. We consider three cases: a
simulated planar compass gait walker, a simulated 3D compass
gait walker with roll dynamics, and a simulated planar compass
gait walker with a torso. Each of the walkers have massless
legs. The actions include foot placement, ankle torque, and
desired torso orientation. We use PoincarŽe sections to define
the state of the model, and thus choose a new action once
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