DocumentCode
2938852
Title
Dynamic Programming in Reduced Dimensional Spaces: Dynamic Planning For Robust Biped Locomotion
Author
Stilman, Mike ; Atkeson, Christopher G. ; Kuffner, James J. ; Zeglin, Garth
Author_Institution
The Robotics Institute Carnegie Mellon University 5000 Forbes Ave, Pittsburgh, PA 15213, USA robot@cmu.edu
fYear
2005
fDate
18-22 April 2005
Firstpage
2399
Lastpage
2404
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 with point feet. We show that a computed solution to this problem can be generated and yield empirically stable walking that can handle various types of disturbances.
Keywords
biped locomotion; dimensionality reduction; dynamic programming; Dynamic programming; Legged locomotion; Optimal control; Orbital robotics; Reduced order systems; Robotics and automation; Robust control; Robust stability; Robustness; State-space methods; biped locomotion; dimensionality reduction; dynamic programming;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN
0-7803-8914-X
Type
conf
DOI
10.1109/ROBOT.2005.1570472
Filename
1570472
Link To Document