Dynamic Programming in Reduced Dimensional Spaces: Dynamic Planning for Robust Biped Locomotion
Atkeson, Christopher G.
Kuffner, James J.
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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.