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Foundations of Robotics Seminar, December 1, 2010
Time
and Place | Seminar Abstract
Control of Instantaneously Coupled Systems Applied to Humanoid Walking
Eric Whitman
Robotics Institute
CMU
NSH 1507
Talk 4:00 pm
We present an optimal controller for an Instantaneously Coupled System
(ICS) which was designed by coordinating multiple lower-dimensional
optimal controllers. We augmented subsystems of the ICS with
coordination variables, and then used value functions to coordinate
the augmented subsystems by managing tradeoffs of the coordination
variables. We apply this method to humanoid walking and present a
controller for a 3D simulation that uses multiple coordinated policies
generated using Dynamic Programming. Additionally, we present
simulated walking perturbation experiments.
The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.