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Paper TuB02.2

Suetani, Hiromichi (Kagoshima University), Ideta, Aiko (Kagoshima University), Morimoto, Jun (ATR Computational Neuroscience Labs)

Using Basin Ruins and Co-Moving Low-Dimensional Latent Coordinates for Dynamic Programming of Biped Walkers on Roughing Ground

Scheduled for presentation during the Regular Session "Human Like Biped Locamotion" (TuB02), Tuesday, May 15, 2012, 10:45−11:00, Meeting Room 2 (Chief Red Wing)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 11, 2017

Keywords Humanoid and Bipedal Locomotion, Learning and Adaptive Systems, Biologically-Inspired Robots

Abstract

Disturbance rejection is one of the most important abilities required for biped walkers. In this study, we propose a method for dynamic programming of biped walking and apply it to a simple passive dynamic walker (PDW) on an irregular slope. The key of the proposed approach is to employ the transient dynamics of the walker just before approaching the falling state in the absence of any controlling input, and to derive the optimal control policy in the low-dimensional latent space. In recent our study, we found that such transient dynamics deeply relates to the basin of attraction for a stable gait. By patching coordinates to such a structures in each Poincar¥'{e} surface and defining the reward function according to the survive time of the transient dynamics, we can construct a Markov Decision Process (MDP) for describing the PDW with external inputs, and we obtain optimal value and policy using a notion of dynamic programming (DP). We will show that the proposed method actually succeeds in controlling the PDW even if the degree of disturbance is relatively large and the dimensionality of coordinates is reduced to lower ones.

 

 

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