a1 Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China
a2 Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA firstname.lastname@example.org
This paper presents biped walking control using a library of optimal trajectories. Biped walking control is formulated as an optimal control problem. We use a parametric trajectory optimization method to find the periodic steady-state walking trajectory. As a second stage, we use Differential Dynamic Programming to generate a library of optimal trajectories and locally linear models of the optimal control law, which are used to construct a more global control law. The proposed controller is compared with a trajectory tracking controller using optimal gains. The utility and performance of the proposed method are evaluated using simulated walking control of a planar five-link biped robot.
(Accepted April 13 2012)
(Online publication May 25 2012)