Minimax differential dynamic programming: application to a biped walking robot

@inproceedings{Morimoto2003MinimaxDD,
  title={Minimax differential dynamic programming: application to a biped walking robot},
  author={Jun Morimoto and Garth Zeglin and Christopher G. Atkeson},
  booktitle={IROS},
  year={2003}
}
We have developed a robust control policy design method for high-dimensional state spaces by using differential dynamic programming with a minimax criterion. As an example, we applied our method to a simulated five link biped robot. The results show lower joint torques using the optimal control policy compared to torques generated by a hand-tuned PD servo controller. Results also show that the simulated biped robot can successfully walk with unknown disturbances that cause controllers generated… CONTINUE READING
Highly Cited
This paper has 134 citations. REVIEW CITATIONS

Citations

Publications citing this paper.
Showing 1-10 of 82 extracted citations

135 Citations

01020'05'08'11'14'17
Citations per Year
Semantic Scholar estimates that this publication has 135 citations based on the available data.

See our FAQ for additional information.

References

Publications referenced by this paper.
Showing 1-7 of 7 references

The Computation and Theory of Optimal Control

  • P. Dyer, S. R. McReynolds
  • 1970
Highly Influential
4 Excerpts

Optimal running trajectories for a biped

  • C. Chevallerau, Y. Aoustin
  • In 2nd International Conference on Climbing and…
  • 1999
1 Excerpt

Similar Papers

Loading similar papers…