ICRA
2006
IEEE
14 years 5 months ago
2006
IEEE
— Legged robots can, in principle, traverse a large variety of obstacles and terrains. In this paper, we describe a successful application of reinforcement learning to the proble...
IROS
2008
IEEE
14 years 6 months ago
2008
IEEE
— Point stabilization of an underactuated vehicle is most often accomplished using a periodic time-varying control law, resulting in oscillatory trajectories. We present a two-st...
ICRA
2008
IEEE
14 years 6 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...
ICRA
2008
IEEE
14 years 6 months ago
2008
IEEE
— Legged robots have the potential to navigate a much larger variety of terrain than their wheeled counterparts. In this paper we present a hierarchical control architecture that...