Human-Inspired Balancing and Recovery Stepping for Humanoid Robots
Dissertationsschrift
(Sprache: Englisch)
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...
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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.
Bibliographische Angaben
- Autor: Lukas Sebastian Kaul
- 2019, 258 Seiten, mit Abbildungen, Masse: 15,1 x 24,4 cm, Kartoniert (TB), Englisch
- Verlag: KIT Scientific Publishing
- ISBN-10: 3731509032
- ISBN-13: 9783731509035
Sprache:
Englisch
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