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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/1000091605Editions