State-incremental optimal control of 3D COG pattern generation for humanoid robots.

Han-Pang Huang Jiu-Lou Yan Teng-Hu Cheng

Published in: Adv. Robotics (2013)

Keyphrases

optimal control
pattern generation
humanoid robot
control problems
dynamic programming
control strategy
feedback control
risk sensitive
motion planning
multi modal
state space
control law
reinforcement learning
degrees of freedom
human motion
infinite horizon
brownian motion