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trajectory library

Robotica (1)

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Biped walking control using a trajectory library
Chenggang Liu, Christopher G. Atkeson, Jianbo Su
Journal:

Robotica / Volume 31 / Issue 2 / March 2013

Published online by Cambridge University Press:

25 May 2012, pp. 311-322
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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.