Time Optimal Control for Quadruped Walking Robots.
Hisashi OsumiShogo KamiyaHirokazu KatoKazunori UmedaRyuichi UedaTamio AraiPublished in: ICRA (2006)
Keyphrases
- optimal control
- legged robots
- quadruped robot
- feedback control
- inverted pendulum
- dynamic programming
- mobile robot
- humanoid robot
- control problems
- reinforcement learning
- risk sensitive
- control strategy
- infinite horizon
- brownian motion
- optimal control problems
- class of nonlinear systems
- multi robot
- control law
- real robot
- rough terrain
- autonomous robots
- lyapunov function
- machine learning