Discrete Mechanics and Optimal Control for Passive Walking with Foot Slippage.
Alexandre Anahory SimoesAsier López-GordónAnthony M. BlochLeonardo ColomboPublished in: CoRR (2022)
Keyphrases
- optimal control
- dynamic programming
- control problems
- control strategy
- risk sensitive
- limit cycle
- feedback control
- optimal control problems
- class of nonlinear systems
- reinforcement learning
- control law
- brownian motion
- lyapunov function
- lyapunov stability
- humanoid robot
- infinite horizon
- neural network
- finite number
- markov processes
- machine learning