Human-Inspired Balancing and Recovery Stepping for Humanoid Robots

• Main Author: Kaul, Lukas Sebastian (auth)
• Format: Electronic Book Chapter
• Language: English
• Published: KIT Scientific Publishing 2019
• Series: Karlsruhe Series on Humanoid Robotics
• Subjects: Maschinelles Lernen; Balancing; Optimierung; Regelungstechnik; Machine learning; Balancieren; Control systems; Humanoide Robotik; Humanoid robotics; Optimization
• Online Access: DOAB: download the publication; DOAB: description of the publication

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 eff...