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Human-Inspired Balancing and Recovery Stepping for Humanoid Robots

Contributor(s): Material type: TextTextPublication details: KIT Scientific Publishing 2019Description: 1 electronic resource (X, 235 p. p.)ISBN:
  • 9783731509035
Subject(s): Online resources: 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.
List(s) this item appears in: E-Books from Directory of Open Access Books
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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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