Optimal Reduced-order Modeling of Bipedal Locomotion

Next week, it’s #icra2020! In “Optimal Reduced-order Modeling of Bipedal Locomotion” by Yu-Ming Chen and Michael Posa, we try to find the best low-dimensional model that captures high-performance walking. The solution combines trajectory optimization and stochastic gradient descient, as a bilevel optimization directly over potential models. Check out the paper or virtual talk.