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 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.
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.
| Autor: | Kaul, Lukas Sebastian |
|---|---|
| ISBN: | 9783731509035 |
| Sprache: | Englisch |
| Seitenzahl: | 258 |
| Produktart: | Kartoniert / Broschiert |
| Verlag: | KIT Scientific Publishing |
| Veröffentlicht: | 15.05.2019 |
| Schlagworte: | Balancieren Balancing Control systems Humanoide Robotik Humanoid robotics Informatik Machine learning Maschinelles Lernen Optimierung Optimization Regelungstechnik |