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

Summary: Dynamic Programming in Reduced Dimensional Spaces:
Dynamic Planning For Robust Biped Locomotion
Mike Stilman, Christopher G. Atkeson, James J. Kuffner, Garth Zeglin
The Robotics Institute
Carnegie Mellon University
5000 Forbes Ave, Pittsburgh, PA 15213, USA
robot@cmu.edu, cga@cs.cmu.edu, kuffner@cs.cmu.edu, garthz@ri.cmu.edu
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. We show that
a computed solution to this problem can be generated and
yield empirically stable walking that can handle various types
of disturbances.
Index Terms-- dimensionality reduction, dynamic program-
ming, biped locomotion
I. INTRODUCTION
Our goal is to apply optimal control techniques that
compute a policy for complex nonlinear systems. In this

  

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

 

Collections: Computer Technologies and Information Sciences; Engineering