Simulation-based design of dynamic controllers for humanoid balancing
IROS, pp. 2729-2736, 2016.
Model-based trajectory optimization often fails to find a reference trajectory for under-actuated bipedal robots performing highly-dynamic, contact-rich tasks in the real world due to inaccurate physical models. In this paper, we propose a complete system that automatically designs a reference trajectory that succeeds on tasks in the real...More
Full Text (Upload PDF)
PPT (Upload PPT)