Minimax differential dynamic programming: application to a biped walking robot

  title={Minimax differential dynamic programming: application to a biped walking robot},
  author={Jun Morimoto and Garth Zeglin and Christopher G. Atkeson},
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
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