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

By: Atkeson, C.G.; Stilman, M.; Zeglin, G.; Kuffner, J.J.;

2005 / IEEE / 0-7803-8914-X

Description

This item was taken from the IEEE Conference ' Dynamic Programming in Reduced Dimensional Spaces: Dynamic Planning For Robust Biped Locomotion ' 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.