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As a second stage, we use Differential Dynamic Programming to generate a library of optimal trajectories and locally linear models of the optimal control law, which are used to construct a more global control law. The proposed controller is compared with a trajectory tracking controller using optimal gains. The utility and performance of the proposed method are evaluated using simulated walking control of a planar five-link biped robot.<\/jats:p>","DOI":"10.1017\/s0263574712000203","type":"journal-article","created":{"date-parts":[[2012,5,25]],"date-time":"2012-05-25T06:30:41Z","timestamp":1337927441000},"page":"311-322","source":"Crossref","is-referenced-by-count":17,"title":["Biped walking control using a trajectory library"],"prefix":"10.1017","volume":"31","author":[{"given":"Chenggang","family":"Liu","sequence":"first","affiliation":[]},{"given":"Christopher G.","family":"Atkeson","sequence":"additional","affiliation":[]},{"given":"Jianbo","family":"Su","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2012,5,25]]},"reference":[{"key":"S0263574712000203_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/37.482132"},{"key":"S0263574712000203_ref48","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Reist","year":"2010"},{"key":"S0263574712000203_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/70.938385"},{"key":"S0263574712000203_ref12","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574702004691"},{"key":"S0263574712000203_ref17","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2006.04.007"},{"key":"S0263574712000203_ref6","first-page":"239","article-title":"The 3D linear inverted pendulum mode: A simple modeling for a biped walking pattern generation","volume":"1","author":"Kajita","year":"2001","journal-title":"Proc. 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