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.
DETAILS
Human-Inspired Balancing and Recovery Stepping for Humanoid Robots
Dissertationsschrift
Kaul, Lukas Sebastian
Kartoniert, 258 S.
graph. Darst.
Sprache: Englisch
210 mm
ISBN-13: 978-3-7315-0903-5
Titelnr.: 78277570
Gewicht: 475 g
KIT Scientific Publishing (2019)
Karlsruher Institut für Technologie (KIT Scientific Publishing c/o KIT-Bibliothek
Straße am Forum 2
76131 Karlsruhe, Baden
info@ksp.kit.edu