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Human-Inspired Balancing and Recovery Stepping for Humanoid Robots

Human-Inspired Balancing and Recovery Stepping for Humanoid Robots

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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.

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Keywords

  • Balancieren
  • balancing
  • Control systems
  • humanoid robotics
  • Humanoide Robotik
  • Machine learning
  • Maschinelles Lernen
  • Optimierung
  • optimization
  • Regelungstechnik

Links

DOI: 10.5445/KSP/1000091605

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