Modeling, Simulation and Optimization of Bipedal Walking

Volume 18 of the series Cognitive Systems Monographs pp 1-15

Trajectory-Based Dynamic Programming

  • Christopher G. AtkesonAffiliated withRobotics Institute, Carnegie Mellon University Email author 
  • , Chenggang LiuAffiliated withDepartment of Automation, Shanghai Jiao Tong University

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We informally review our approach to using trajectory optimization to accelerate dynamic programming. Dynamic programming provides a way to design globally optimal control laws for nonlinear systems. However, the curse of dimensionality, the exponential dependence of memory and computation resources needed on the dimensionality of the state and control, limits the application of dynamic programming in practice. We explore trajectory-based dynamic programming, which combines many local optimizations to accelerate the global optimization of dynamic programming. We are able to solve problems with less resources than grid-based approaches, and to solve problems we couldn’t solve before using tabular or global function approximation approaches.