HRP-2 plays the yoyo: From human to humanoid yoyo playing using optimal control.
Katja D. MombaurManish N. SreenivasaPublished in: ICRA (2010)
Keyphrases
- optimal control
- humanoid robot
- control strategy
- dynamic programming
- control problems
- feedback control
- class of nonlinear systems
- optimal control problems
- risk sensitive
- reinforcement learning
- infinite horizon
- computer games
- neural network
- motion planning
- game playing
- lyapunov function
- stochastic control
- linear quadratic
- objective function
- real time