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Lukas Sebastian Kaul

Human-Inspired Balancing and Recovery Stepping for Humanoid Robots

(Karlsruhe Series on Humanoid Robotics ; 5)

AutorKaul, Lukas Sebastian

VerlagKIT Scientific Publishing, Karlsruhe

ISBN9783731509035

UmfangX, 235 S.

Veröffentlicht
am:
15.05.2019

Erscheinungs-
jahr
2019

Verfügbarkeit04

Downloads:

Für Zitate bitte die folgende URL verwenden:
http://dx.doi.org/10.5445/KSP/1000091605

Abstract

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.