A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2016; you can also visit the original URL.
The file type is
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 usingdoi:10.1109/ichr.2010.5686339 dblp:conf/humanoids/WhitmanA10 fatcat:fyekeou46jbo7jfqosbbze6p5a