Human-Inspired Balancing and Recovery Stepping for Humanoid Robots
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 eff...
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| Superior document: | Karlsruhe Series on Humanoid Robotics |
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| Year of Publication: | 2019 |
| Language: | English |
| Series: | Karlsruhe Series on Humanoid Robotics
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| Physical Description: | 1 electronic resource (X, 235 p. p.) |
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| Summary: | 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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| ISBN: | 1000091605 |
| Hierarchical level: | Monograph |