Learning capture points for bipedal push recovery

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2008, Pages 1774-

  Rebula, John R ^a   Canas, Fabian ^a   Pratt, Jerry E ^a   Goswami, Ambarish ^b  

^a INSTITUTE FOR HUMAN AND MACHINE COGNITION   (United States)

^b HONDA RESEARCH INSTITUTE   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 51649108658     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2008.4543460     Document Type: Conference Paper

References (5)

1. J. Rebula, F. Canas, J. Pratt, and A. Goswami. Learning Capture Points for Bipedal Push Recovery. Humanoids 2007
2. S. Kajita, F. Kanehiro, K. Kaneko, K. Yokoi, and H. Hirukawa. The 3d linear inverted pendulum mode: a simple modeling for a biped walking pattern generation. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 239-246, 2001.
3. Jerry E. Pratt and Sergey V. Drakunov. Derivation and application of a conserved orbital energy for the inverted pendulum bipedal walking model. Proceedings of the IEEE International Conference on Robotics and Automation, pages 4653-4660, 2007.
4. Jerry E. Pratt, John Carff, Sergey Drakunov, and Ambarish Goswami. Capture point: A step toward humanoid push recovery. Proceedings of the IEEE-RAS International Conference on Humanoid Robots, 2006.
5. Russ Tedrake, Teresa Weirui Zhang, and H.Sebastian Seung. Stochastic policy gradient reinforcement learning on a simple 3d biped. Proceedings of the IEEE International Conference on Intelligent Robots and Systems, pages 2849-2854, 2004.