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Robust Low Torque Biped Walking Using Differential Dynamic Programming With a Minimax Criterion
 

Summary: Robust Low Torque Biped Walking Using Differential
Dynamic Programming With a Minimax Criterion
J. Morimoto and C. Atkeson
Human Information Science Laboratories, ATR International, Department 3
2-2-2 Hikaridai Seika-cho Soraku-gun, Kyoto, JAPAN 619-0288
xmorimo@atr.co.jp
The Robotics Institute, Carnegie Mellon University
5000 Forbes Avenue, Pittsburgh, PA, USA 15213
xmorimo@cs.cmu.edu, cga@cmu.edu
ABSTRACT
We developed a control policy design method for robust low torque biped walking by using
differential dynamic programming with a minimax criterion. As an example, we applied our
method to a simulated five link biped robot. The results show lower joint torques from the
optimal control policy compared to a hand-tuned PD servo controller. Results also show that the
simulated biped robot can successfully walk with unknown disturbances that cause controllers
generated by standard differential dynamic programming and the hand-tuned PD servo to fail.
Future work will implement these controllers on a robot we are currently developing.
Recent humanoid robots using Zero Moment Point (ZMP) control strategies have demon-
strated impressive biped walking [7, 11, 8]. However, robots using ZMP control are often
neither robust nor energy efficient and can generate large joint torques. McGeer [9] demon-

  

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

 

Collections: Computer Technologies and Information Sciences; Engineering