Nonparametric representation of an approximated Poincaré map for learning biped locomotion
نویسندگان
چکیده
منابع مشابه
Nonparametric representation of an approximated Poincaré map for learning biped locomotion
We propose approximating a Poincaré map of biped walking dynamics using Gaussian processes. We locally optimize parameters of a given biped walking controller based on the approximated Poincaré map. By using Gaussian processes, we can estimate a probability distribution of a target nonlinear function with a given covariance. Thus, an optimization method can take the uncertainty of approximated ...
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ژورنال
عنوان ژورنال: Autonomous Robots
سال: 2009
ISSN: 0929-5593,1573-7527
DOI: 10.1007/s10514-009-9133-z