Earlier today, I presented the publication Probabilistic Gradient Ascent with Applications to Bipedal Robot Locomotion at the Australasian Conference on Robotics and Automation (ACRA2013, the largest robotics conference in the southern hemisphere). This presentation can be viewed below:
This paper, which details the development of a non-convex optimisation algorithm and its application to optimising walk speed and stability for the Robotis DARwIn-OP robot, was completed in collaboration with three colleagues at the University of Newcastle (Josiah Walker, Madision Flannery and Alexandre Mendes). The manuscript is self-archived here. In addition, it can be found with the remainder of the ACRA2013 proceedings on the official conference website.
For more information, please contact me.