Human-Inspired Balancing and Recovery Stepping for Humanoid Robots

• Tác giả: Lukas Sebastian Kaul
• Ngôn ngữ: eng
• ISBN-13: 978-3731509035
• ISBN: KSP/1000091605
• Ký hiệu phân loại: 006.3 Artificial intelligence
• Thông tin xuất bản: Karlsruhe : KIT Scientific Publishing, 2019
• Mô tả vật lý: 1 electronic resource (X, 235 p. p.)
• Bộ sưu tập: Tài liệu truy cập mở
• ID: 230983

Tóm tắt

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.