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Control of a Walking Biped Using a Combination of Simple Policies Eric C. Whitman and Christopher G. Atkeson
 

Summary: Control of a Walking Biped Using a Combination of Simple Policies
Eric C. Whitman and Christopher G. Atkeson
Carnegie Mellon University
Pittsburgh, PA 15213, USA
email: ewhitman@cmu.edu
Abstract-- We present a decoupled controller for a simulated
three-dimensional biped. To handle the high-dimensionality of
the system, we break the dynamics down into multiple sub-
systems, which we control separately. For both the sagittal
and coronal plane dynamics, we use dynamic programming
to simultaneously optimize body motion, foot placement, and
step timing for a two link inverted pendulum model. To use
these simplified policies we map the full state to a simplified
state, and then map the control action back onto the full system.
The swing leg is controlled via continuously updated desired
trajectories. These separate policies are then coordinated by
the estimated time until touchdown, which is provided by the
sagittal policy. By varying the lean angle or changing the sagittal
policy we are able to contol the walking speed. We also evaluate
the performance of our controller in terms of robustness to

  

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