20 search results - page 3 / 4 » Minimalistic control of biped walking in rough terrain |
IROS
2007
IEEE
14 years 2 months ago
2007
IEEE
— This paper presents an algorithm for adapting periodic behavior to gradual shifts in task parameters. Since learning optimal control in high dimensional domains is subject to t...
IROS
2007
IEEE
14 years 2 months ago
2007
IEEE
— While underactuated robotic systems are capable of energy efficient and rapid dynamic behavior, we still do not fully understand how body dynamics can be actively used for ada...
ICRA
2007
IEEE
14 years 2 months ago
2007
IEEE
— This paper presents a motion pattern generator of humanoid robots that walks on a flat plane, steps and a rough terrain. It is guaranteed rigorously that the desired contact b...
ICRA
2008
IEEE
14 years 3 months ago
2008
IEEE
Abstract— In this paper, we explore the capabilities of actuated models of the compass gait walker on rough terrain. We solve for the optimal high-level feedback policy to negoti...
AROBOTS
1998
13 years 8 months ago
1998
Off-road autonomous navigation is one of the most difficult automation challenges from the point of view of constraints on mobility, speed of motion, lack of environmental structur...