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Passive-dynamic walkers are simple mechanical devices, composed of solid parts connected by joints, that walk stably down a slope. They have no motors or controllers, yet can have remarkably humanlike motions. This suggests that these machines are useful models of human locomotion; however, they cannot walk on level ground. Here we present three robots(More)
— We cast the partially observable control problem as a fully observable underactuated stochastic control problem in belief space and apply standard planning and control techniques. One of the difficulties of belief space planning is modeling the stochastic dynamics resulting from unknown future observations. The core of our proposal is to define(More)
— We present a learning system which is able to quickly and reliably acquire a robust feedback control policy for 3D dynamic walking from a blank-slate using only trials implemented on our physical robot. The robot begins walking within a minute and learning converges in approximately 20 minutes. This success can be attributed to the mechanics of our robot,(More)
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. The MIT Faculty has made this article openly available. Please share how this access benefits you. Your story matters. Abstract— Kinodynamic planning algorithms like Rapidly-Exploring Randomized(More)
— We present a statistical gradient following algorithm which optimizes a control policy for bipedal walking online on a real robot. One of the distinguishing features of this system is that learning and execution occur simultaneously: there are no explicit learning trials and there is no need to model the dynamics of the robot in a simulation. Thanks in(More)
— The reduction of the kinematics and/or dynamics of a high-DOF robotic manipulator to a low-dimension " task space " has proven to be an invaluable tool for designing feedback controllers. When obstacles or other kinodynamic constraints complicate the feedback design process, motion planning techniques can often still find feasible paths, but these(More)
— The passive dynamic walker described in this paper is a robot with a minimal number of degrees of freedom, but which is still capable of stable 3D dynamic walking. First, we present the reduced-order dynamic models that we used to tune the characteristics of the robot's gait. Then we present an actuated version of the robot and some preliminary active(More)
High-precision maneuvers at high angles-of-attack are not properly addressed by even the most advanced aircraft control systems. Here we present our control design procedure and indoor experimental results with a small fixed-wing autonomous glider which is capable of executing an aggressive high angle-of-attack maneuver in order to land on a perch. We first(More)