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Human-Inspired Balancing and Recovery Stepping for Humanoid Robots

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...

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Bibliographic Details
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
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Summary: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.
Physical Description:1 electronic resource (X, 235 p. p.)
ISBN:KSP/1000091605
9783731509035
Access:Open Access

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