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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.
Umfang: X, 235 S.
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Kaul, L. 2019. Human-Inspired Balancing and Recovery Stepping for Humanoid Robots. Karlsruhe: KIT Scientific Publishing. DOI: https://doi.org/10.5445/KSP/1000091605
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Veröffentlicht am 15. Mai 2019
Englisch
260
| Paperback | 978-3-7315-0903-5 |