Basic consideration about optimal control of a quadruped walking robot during slope walking motion.
Hirone KomatsuGen EndoRyuichi HodoshimaShigeo HiroseEdwardo F. FukushimaPublished in: ARSO (2013)
Keyphrases
- optimal control
- walking robot
- control problems
- dynamic programming
- feedback control
- class of nonlinear systems
- optimal control problems
- humanoid robot
- reinforcement learning
- risk sensitive
- control strategy
- quadruped robot
- image sequences
- walking speed
- human motion
- control law
- brownian motion
- human walking
- infinite horizon
- lyapunov function
- neural network
- control system
- continuous stirred tank reactor
- motion planning
- mathematical model
- moving objects