Human-Inspired Balancing and Recovery Stepping for Humanoid Robots
Kaul, Lukas Sebastian
Human-Inspired Balancing and Recovery Stepping for Humanoid Robots - KIT Scientific Publishing 2019 - 1 electronic resource (X, 235 p. p.)
Open Access
Robustly maintaining balance on two legs is an important challenge for humanoid robots. The work presented in this book represents a contribution to this area. It investigates efficient methods for the decision-making from internal sensors about whether and where to step, several improvements to efficient whole-body postural balancing methods, and proposes and evaluates a novel method for efficient recovery step generation, leveraging human examples and simulation-based reinforcement learning.
Creative Commons
English
KSP/1000091605 9783731509035
10.5445/KSP/1000091605 doi
Maschinelles Lernen Balancing Optimierung Regelungstechnik Machine learning Balancieren Control systems Humanoide Robotik Humanoid robotics Optimization
Human-Inspired Balancing and Recovery Stepping for Humanoid Robots - KIT Scientific Publishing 2019 - 1 electronic resource (X, 235 p. p.)
Open Access
Robustly maintaining balance on two legs is an important challenge for humanoid robots. The work presented in this book represents a contribution to this area. It investigates efficient methods for the decision-making from internal sensors about whether and where to step, several improvements to efficient whole-body postural balancing methods, and proposes and evaluates a novel method for efficient recovery step generation, leveraging human examples and simulation-based reinforcement learning.
Creative Commons
English
KSP/1000091605 9783731509035
10.5445/KSP/1000091605 doi
Maschinelles Lernen Balancing Optimierung Regelungstechnik Machine learning Balancieren Control systems Humanoide Robotik Humanoid robotics Optimization