Neuware -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. 260 pp. Englisch.

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Bibliographic Details

Title

Human-Inspired Balancing and Recovery Stepping for Humanoid Robots

Publisher

Karlsruher Institut F�r Technologie, Karlsruher Institut F�r Technologie Mai 2019

Publication Date

2019

Language

English

ISBN 10

3731509032

ISBN 13

9783731509035

Binding

Taschenbuch

Condition

Neu

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Synopsis

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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