Human-Inspired Balancing and Recovery Stepping for Humanoid Robots
In: Karlsruhe Series on Humanoid Robotics; (2019)
Online
E-Book
- X, 235 p.
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.
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Human-Inspired Balancing and Recovery Stepping for Humanoid Robots
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| Autor/in / Beteiligte Person: | Kaul, Lukas Sebastian |
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| Quelle: | Karlsruhe Series on Humanoid Robotics; (2019) |
| Veröffentlichung: | KIT Scientific Publishing, 2019 |
| Medientyp: | E-Book |
| Umfang: | X, 235 p. |
| ISBN: | 978-3-7315-0903-5 (print) |
| ISSN: | 2512-0875 (print) |
| DOI: | 10.5445/KSP/1000091605 |
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