Human-Inspired Balancing and Recovery Stepping for Humanoid Robots

Von:

Kaul, Lukas [VerfasserIn]

Resource type: Ressourcentyp: Buch (Online)Buch (Online)Sprache: Englisch Reihen: Karlsruhe Series on Humanoid RoboticsVerlag: [Erscheinungsort nicht ermittelbar] : KIT Scientific Publishing, 2019Beschreibung: 1 Online-Ressource (X, 235 p.)ISBN:

9783731509035

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Zusammenfassung: 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 learningPPN: PPN: 1778491871Package identifier: Produktsigel: ZDB-94-OAB

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English