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. We show that a computed solution to this problem can be generated and yield empirically stable walking that can handle various types of disturbances.

• Type: Conference
• Year: 2005
• Where: ICRA
• Authors: Mike Stilman, Christopher G. Atkeson, James Kuffner, Garth Zeglin
• Keywords: Complex Dynamic Environments, Computational Optimal Control, ICRA 2005, Reduced Dimensional Subspace, Robotics