Discrete mechanics and optimal control applied to the compass gait biped.

David Pekarek Aaron D. Ames Jerrold E. Marsden

Published in: CDC (2007)

Keyphrases

optimal control
control strategy
control law
control problems
dynamic programming
infinite horizon
feedback control
optimal control problems
risk sensitive
finite number
machine learning
lyapunov function
biped robot
neural network
nonlinear systems
control system
brownian motion
data mining