Human-Inspired Balancing and Recovery Stepping for Humanoid Robots

Human-Inspired Balancing and Recovery Stepping for Humanoid Robots_cover.jpg

Dublin Core

Title

Human-Inspired Balancing and Recovery Stepping for Humanoid Robots

Subject

Machine Learning
Humanoid Robotic

Description

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.

Creator

Kaul, Lukas Sebastian

Source

https://www.ksp.kit.edu/9783731509035

Publisher

KIT Scientific Publishing

Date

2019

Rights

https://creativecommons.org/licenses/by-sa/4.0/

Format

Pdf

Language

English

Type

Book

Identifier

10.5445/KSP/1000091605

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