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

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/36483

Title: Dynamic Programming in Reduced Dimensional Spaces: Dynamic Planning for Robust Biped Locomotion
Author: Stilman, Mike ; Atkeson, Christopher G. ; Kuffner, James J. ; Zeglin, Garth
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.
Description: © 2005 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Type: Proceedings
URI: http://hdl.handle.net/1853/36483
Citation: M. Stilman, C. Atkeson, J. Kuffner, G. Zeglin, Dynamic Programming in Reduced Dimensional Spaces: Dynamic Planning for Robust Biped Locomotion. IEEE Int. Conf. on Robotics and Automation (ICRA ’05). April 2005.
Date: 2005-04
Contributor: Carnegie-Mellon University. Robotics Institute
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Dimensionality reduction
Dynamic programming
Biped locomotion

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