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...
| Format: | eBook |
|---|---|
| Language: | English |
| Published: |
KIT Scientific Publishing
2019
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| Series: | Karlsruhe Series on Humanoid Robotics
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| Subjects: | |
| Online Access: | Open Access: DOAB: description of the publication Open Access: DOAB, download the publication |
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| 020 | |a 9783731509035 | ||
| 020 | |a KSP/1000091605 | ||
| 024 | 7 | |a 10.5445/KSP/1000091605 |2 doi | |
| 040 | |a oapen |c oapen | ||
| 041 | 0 | |a eng | |
| 042 | |a dc | ||
| 720 | 1 | |a Kaul, Lukas Sebastian |4 aut | |
| 245 | 0 | 0 | |a Human-Inspired Balancing and Recovery Stepping for Humanoid Robots |
| 260 | |b KIT Scientific Publishing |c 2019 | ||
| 300 | |a 1 online resource (X, 235 p. p.) | ||
| 336 | |a text |b txt |2 rdacontent | ||
| 337 | |a computer |b c |2 rdamedia | ||
| 338 | |a online resource |b cr |2 rdacarrier | ||
| 490 | 1 | |a Karlsruhe Series on Humanoid Robotics | |
| 506 | 0 | |a Open Access |f Unrestricted online access |2 star | |
| 520 | |a 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. | ||
| 540 | |a Creative Commons |f https://creativecommons.org/licenses/by-sa/4.0/ |2 cc |u https://creativecommons.org/licenses/by-sa/4.0/ | ||
| 546 | |a English | ||
| 653 | |a Balancieren | ||
| 653 | |a Balancing | ||
| 653 | |a Control systems | ||
| 653 | |a Humanoid robotics | ||
| 653 | |a Humanoide Robotik | ||
| 653 | |a Machine learning | ||
| 653 | |a Maschinelles Lernen | ||
| 653 | |a Optimierung | ||
| 653 | |a Optimization | ||
| 653 | |a Regelungstechnik | ||
| 793 | 0 | |a DOAB Library. | |
| 856 | 4 | 0 | |u https://directory.doabooks.org/handle/20.500.12854/49648 |7 0 |z Open Access: DOAB: description of the publication |
| 856 | 4 | 0 | |u https://www.ksp.kit.edu/9783731509035 |7 0 |z Open Access: DOAB, download the publication |