research-article

Optimizing walking controllers for uncertain inputs and environments

Authors:

David J. Fleet,

Aaron HertzmannAuthors Info & Claims

ACM Transactions on Graphics (TOG), Volume 29, Issue 4

Article No.: 73, Pages 1 - 8

https://doi.org/10.1145/1778765.1778810

Published: 26 July 2010 Publication History

Abstract

We introduce methods for optimizing physics-based walking controllers for robustness to uncertainty. Many unknown factors, such as external forces, control torques, and user control inputs, cannot be known in advance and must be treated as uncertain. These variables are represented with probability distributions, and a return function scores the desirability of a single motion. Controller optimization entails maximizing the expected value of the return, which is computed by Monte Carlo methods. We demonstrate examples with different sources of uncertainty and task constraints. Optimizing control strategies under uncertainty increases robustness and produces natural variations in style.

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Published In

cover image ACM Transactions on Graphics

ACM Transactions on Graphics Volume 29, Issue 4

July 2010

942 pages

ISSN:0730-0301

EISSN:1557-7368

DOI:10.1145/1778765

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Copyright © 2010 ACM.

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Publication History

Published: 26 July 2010

Published in TOG Volume 29, Issue 4

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Tong YLiu HZhang Z(2024)Advancements in Humanoid Robots: A Comprehensive Review and Future ProspectsIEEE/CAA Journal of Automatica Sinica10.1109/JAS.2023.12414011:2(301-328)Online publication date: Feb-2024
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Li XFang YLan LWang HYang YLi MJiang C(2023)Subspace-Preconditioned GPU Projective Dynamics with Contact for Cloth SimulationSIGGRAPH Asia 2023 Conference Papers10.1145/3610548.3618157(1-12)Online publication date: 10-Dec-2023
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