February 05, 2015 / by George Council / In booklist
Optimization-based Locomotion Planning, Estimation, and Control Design for Atlas Humonoid Robot
A fun paper expanding on the control methods used in the well-known and well-performing Atlas robots by Boston Dynamics. A little bit of a 'behind the curtain' result, it's interesting to see the methods behind a robot that has gained so much attention. Unsprisingly, online optimization of trajectory outcomes is employed, suggesting that a more constructive theory for robot decision making and control is missing.
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