dc.contributor.author | Koolen, Twan | |
dc.contributor.author | Marion, Pat | |
dc.contributor.author | Kuindersma, Scott | |
dc.contributor.author | Deits, Robin Lloyd Henderson | |
dc.contributor.author | Fallon, Maurice | |
dc.contributor.author | Valenzuela, Andres Klee | |
dc.contributor.author | Dai, Hongkai | |
dc.contributor.author | Permenter, Frank Noble | |
dc.contributor.author | Tedrake, Russell L | |
dc.date.accessioned | 2017-07-07T15:29:29Z | |
dc.date.available | 2017-07-07T15:29:29Z | |
dc.date.issued | 2015-07 | |
dc.date.submitted | 2014-10 | |
dc.identifier.issn | 0929-5593 | |
dc.identifier.issn | 1573-7527 | |
dc.identifier.uri | http://hdl.handle.net/1721.1/110533 | |
dc.description.abstract | This paper describes a collection of optimization algorithms for achieving dynamic planning, control, and state estimation for a bipedal robot designed to operate reliably in complex environments. To make challenging locomotion tasks tractable, we describe several novel applications of convex, mixed-integer, and sparse nonlinear optimization to problems ranging from footstep placement to whole-body planning and control. We also present a state estimator formulation that, when combined with our walking controller, permits highly precise execution of extended walking plans over non-flat terrain. We describe our complete system integration and experiments carried out on Atlas, a full-size hydraulic humanoid robot built by Boston Dynamics, Inc. | en_US |
dc.description.sponsorship | United States. Air Force Office of Scientific Research (FA8750-12-1-0321) | en_US |
dc.description.sponsorship | United States. Office of Naval Research (N00014-12-1-0071) | en_US |
dc.description.sponsorship | United States. Office of Naval Research (N00014-10-1-0951) | en_US |
dc.description.sponsorship | National Science Foundation (U.S.) (IIS-0746194) | en_US |
dc.description.sponsorship | National Science Foundation (U.S.) (IIS-1161909) | en_US |
dc.language.iso | en_US | |
dc.publisher | Springer-Verlag | en_US |
dc.relation.isversionof | http://dx.doi.org/10.1007/s10514-015-9479-3 | en_US |
dc.rights | Creative Commons Attribution-Noncommercial-Share Alike | en_US |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-sa/4.0/ | en_US |
dc.source | MIT web domain | en_US |
dc.title | Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot | en_US |
dc.type | Article | en_US |
dc.identifier.citation | Kuindersma, Scott; Deits, Robin; Fallon, Maurice; Valenzuela, Andrés; Dai, Hongkai; Permenter, Frank; Koolen, Twan; Marion, Pat and Tedrake, Russ. "Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot." Autonomous Robots 40, 3 (March 2016): 429-455 © 2015 Springer Science+Business Media New York | en_US |
dc.contributor.department | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory | en_US |
dc.contributor.mitauthor | Kuindersma, Scott | |
dc.contributor.mitauthor | Deits, Robin Lloyd Henderson | |
dc.contributor.mitauthor | Fallon, Maurice | |
dc.contributor.mitauthor | Valenzuela, Andres Klee | |
dc.contributor.mitauthor | Dai, Hongkai | |
dc.contributor.mitauthor | Permenter, Frank Noble | |
dc.contributor.mitauthor | Tedrake, Russell L | |
dc.relation.journal | Autonomous Robots | en_US |
dc.eprint.version | Author's final manuscript | en_US |
dc.type.uri | http://purl.org/eprint/type/JournalArticle | en_US |
eprint.status | http://purl.org/eprint/status/PeerReviewed | en_US |
dspace.orderedauthors | Kuindersma, Scott; Deits, Robin; Fallon, Maurice; Valenzuela, Andrés; Dai, Hongkai; Permenter, Frank; Koolen, Twan; Marion, Pat; Tedrake, Russ | en_US |
dspace.embargo.terms | N | en_US |
dc.identifier.orcid | https://orcid.org/0000-0001-9755-3856 | |
dc.identifier.orcid | https://orcid.org/0000-0001-6798-1921 | |
dc.identifier.orcid | https://orcid.org/0000-0001-9363-3701 | |
dc.identifier.orcid | https://orcid.org/0000-0002-8935-7449 | |
dc.identifier.orcid | https://orcid.org/0000-0002-8712-7092 | |
mit.license | OPEN_ACCESS_POLICY | en_US |