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Control of Instantaneously Coupled Systems applied to humanoid walking
2010
2010 10th IEEE-RAS International Conference on Humanoid Robots
This paper presents 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
doi:10.1109/ichr.2010.5686339
dblp:conf/humanoids/WhitmanA10
fatcat:fyekeou46jbo7jfqosbbze6p5a