Advanced Search

Browse by Discipline

Scientific Societies

E-print Alerts

Add E-prints

E-print Network

  Advanced Search  

Controlling Velocity In Bipedal Walking: A Dynamic Programming Approach

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
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


Source: Atkeson, Christopher G. - Robotics Institute, School of Computer Science, Carnegie Mellon University
Carnegie Mellon University, School of Computer Science, Informedia Project


Collections: Computer Technologies and Information Sciences; Engineering