Massachusetts Institute of Technology
Sign in

Dynamic Walking 2010. Emanuel Todorov. Linearly-solvable optimal control: Theory and applications

Optimal control has a lot of potential, however its applications to robotics have been limited, partly because the problem is very hard to solve even numerically. In this talk I will summarize a recently-developed formulation of stochastic optimal control which renders the problem linear (in the unknown value function). This makes it possible to use large numbers of basis functions for parameterizing the solution. Other advantages include a compositionality law for optimal controllers, as well as a duality with Bayesian inference. This duality yields an interesting relation between deterministic and stochastic optimization: the Hessian of the total cost around an optimal deterministic trajectory coincides with the Laplacian approximation to the density of stochastic trajectories generated by the optimal feedback controller. I will show how this relation can be exploited to optimize feedback controllers for periodic behaviors such as walking. The new formulation can also deal with contacts, because it relies on integral equations and does not need to assume smooth dynamics. This is in contrast with most prior application of optimal control to walking, where the contact states have usually been specified in advance.

Comments (0)

It looks like no one has posted a comment yet. You can be the first!

You need to log in, in order to post comments.

Dynamic Walking 2010

Dynamic Walking 2010

Category: Education | Updated over 7 years ago

Created
August 03, 2010 19:11
Category
License
All Rights Reserved (What is this?)
Additional Files


Viewed
4020 times

More from Dynamic Walking 2010

Dynamic Walking 2010. Fumihiko Asano. Energy-based Control Approaches to Efficient Dynamic Bipedal Walking.

Dynamic Walking 2010. Fumihiko Asan...

Added over 7 years ago | 00:34:20 | 6841 views

Dynamic Walking 2010. Andre Seyfarth. Stable walking and running: how leg geometry and compliance shapes the way we move

Dynamic Walking 2010. Andre Seyfart...

Added over 7 years ago | 00:28:57 | 5664 views

Dynamic Walking 2010. Stefano Stramigioli. Port-Based Robotics and Variable Impedance Actuators

Dynamic Walking 2010. Stefano Stram...

Added over 7 years ago | 00:28:58 | 4732 views

Dynamic Walking 2010. Anton Shiriaev. VHC Tools for Gait Analysis and Control.

Dynamic Walking 2010. Anton Shiriae...

Added over 7 years ago | 00:34:00 | 5811 views

Dynamic Walking 2010. Tom Roberts. Fast, cheap and out of control: dynamic interactions of elastic structures and muscle motors

Dynamic Walking 2010. Tom Roberts. ...

Added over 7 years ago | 00:44:10 | 3873 views

Dynamic Walking 2010. Monica Daley. Diversity of bipedal locomotion among birds: Insights into the interplay of morphology, economy and stability

Dynamic Walking 2010. Monica Daley....

Added over 7 years ago | 00:22:57 | 5443 views