Human-Inspired Balancing and Recovery Stepping for Humanoid Robots
Author | : Kaul, Lukas Sebastian |
Publisher | : KIT Scientific Publishing |
Total Pages | : 258 |
Release | : 2019-05-15 |
Genre | : Computers |
ISBN | : 3731509032 |
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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.