Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: To enable robust dynamic walking on the Atlas robot,  extend our previous work by adding a receding-horizon component. The new controller consists of three hierarchies: a center of mass (CoM) trajectory planner that follows a sequence of desired foot steps, a receding-horizon controller that optimizes the next foot placement to minimize future CoM tracking errors, and an inverse dynamics based full body controller that generates instantaneous joint commands to track these motions while obeying physical constraints. An approximate value function is generated by the CoM planner, and is used to guide the foot placement and inverse dynamics optimizations. The proposed controller is implemented and tested on the Atlas robot. It is capable of walking with strong external perturbations such as recovering from large pushes and traversing unstructured terrain.
['Siyuan Feng', 'X Xinjilefu', 'Christopher G. Atkeson', 'Joohyung Kim']
I am writing a research paper on a idea Robust dynamic walking using online foot step optimization
[{"from": "human", "value": "I am writing a research paper on a idea Robust dynamic walking using online foot step optimization"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: To enable robust dynamic walking on the Atlas robot,  extend our previous work by adding a receding-horizon component. The new controller consists of three hierarchies: a center of mass (CoM) trajectory planner that follows a sequence of desired foot steps, a receding-horizon controller that optimizes the next foot placement to minimize future CoM tracking errors, and an inverse dynamics based full body controller that generates instantaneous joint commands to track these motions while obeying physical constraints. An approximate value function is generated by the CoM planner, and is used to guide the foot placement and inverse dynamics optimizations. The proposed controller is implemented and tested on the Atlas robot. It is capable of walking with strong external perturbations such as recovering from large pushes and traversing unstructured terrain."}]