Human-Inspired Balancing and Recovery Stepping for Humanoid Robots - Dissertationsschrift

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.

Product details

• Authors: Lukas Sebastian Kaul
• Publisher: KIT Scientific Publishing
• Languages: English
• Product format: Paperback / Softback
• Released: 01.01.2019
• EAN: 9783731509035
• ISBN: 978-3-7315-0903-5
• No. of pages: 258
• Dimensions: 151 mm x 12 mm x 244 mm
• Weight: 475 g
• Illustrations: graph. Darst.
• Series: Karlsruhe Series on Humanoid Robotics
• Subjects: Guides; Natural sciences, medicine, IT, technology > IT, data processing > Miscellaneous