Abstract. To realize dynamically stable walking for a quadruped walking robot, the combination of the trajectory planning of the body and leg position (feedforward control) and the...
— We explore the use of computational optimal control techniques for automated construction of policies in complex dynamic environments. Our implementation of dynamic programming...
Mike Stilman, Christopher G. Atkeson, James Kuffne...
Abstract— We propose to improve the locomotive performance of humanoid robots by using approximated biped stepping and walking dynamics with reinforcement learning (RL). Although...
Jun Morimoto, Christopher G. Atkeson, Gen Endo, Go...
Motor primitives or motion templates have become an important concept for both modeling human motor control as well as generating robot behaviors using imitation learning. Recent ...
— It is generally accepted that locomotion in animals is based on a trade-off between energy consumption and stability. However, this trade-off is the result of the interaction b...