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Reference TypeConference Paper
Author(s)Mason, S.;Righetti, L.;Schaal, S.
TitleTowards Full System Linear Quadratic Regulators for Humanoid Control
Journal/Conference/Book TitleProceedings of Dynamic Walking
Keywordsbalancing, humanoid robotics, LQR, whole body control
AbstractRobots that are to locomote in a human like fashion requirecontrol of high degree of freedom (DOF) motions potentiallycoupled in a complex way. It remains challenging to expressthe task objective in an intuitive way and simultaneously generatefeedback gains guaranteeing some level of optimality.In response to this, a number of different simplified modelshave been developed to highlight different aspects of the humanoid’sdynamics that are important for specific tasks. Ashort list of some of the models used to represent a humanoidinclude the cart-table, double inverted pendulum, reactionmass pendulum, and automatically generated task specific reducedmodels [4]. These simplified models make planningeasier but come at the cost of modelling error and limitationson motion. In addition, one is tasked with finding mappingsbetween the full system to the reduced system. These mappingscan potentially destroy the intuition surrounding the useof the simplified model as they may not always behave as expected.By working with the full dynamics, one obtains anincrease in generality, accuracy, and eliminates the need formappings.
Place PublishedZurich, Switzerland
Short TitleTowards Full System Linear Quadratic Regulators for Humanoid Control
Custom 3papers3://publication/uuid/BE186C7E-07D0-4E47-91DC-A5820138A358
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