@inproceedings{3a7286aa5a444983b64359f42ce82b74,
title = "Acquisition of a biped walking pattern using a poincare map",
abstract = "We propose a model-based reinforcement learning algorithm for biped walking in which the robot learns to appropriately place the swing leg. This decision is based on a learned model of the Poincare map of the periodic walking pattern. The model maps from a state at a single support phase and foot placement to a state at the next single support phase. We applied this approach to both a simulated robot model and an actual biped robot. We show that successful walking patterns are acquired.",
keywords = "Biped Walking, Poincare map, Reinforcement Learning",
author = "Jun Morimoto and Jun Nakanishi and Gen Endo and Gordon Cheng and Atkeson, {Christopher G.} and Garth Zeglin",
year = "2004",
language = "English",
isbn = "0780388631",
series = "2004 4th IEEE-RAS International Conference on Humanoid Robots",
pages = "912--924",
booktitle = "2004 4th IEEE-RAS International Conference on Humanoid Robots",
note = "2004 4th IEEE-RAS International Conference on Humanoid Robots ; Conference date: 10-11-2004 Through 12-11-2004",
}