Human-Inspired Balancing and Recovery Stepping for Humanoid Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Human-Inspired Balancing and Recovery Stepping for Humanoid Robots write by Kaul, Lukas Sebastian. This book was released on 2019-05-15. Human-Inspired Balancing and Recovery Stepping for Humanoid Robots available in PDF, EPUB and Kindle. 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.
Human-Inspired Balancing and Recovery Stepping for Humanoid Robots
Human-Inspired Balancing and Recovery Stepping for Humanoid Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Human-Inspired Balancing and Recovery Stepping for Humanoid Robots write by Lukas Sebastian Kaul. This book was released on 2020-10-09. Human-Inspired Balancing and Recovery Stepping for Humanoid Robots available in PDF, EPUB and Kindle. 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. This work was published by Saint Philip Street Press pursuant to a Creative Commons license permitting commercial use. All rights not granted by the work's license are retained by the author or authors.
Active Vision for Scene Understanding
Active Vision for Scene Understanding - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Active Vision for Scene Understanding write by Grotz, Markus. This book was released on 2021-12-21. Active Vision for Scene Understanding available in PDF, EPUB and Kindle. Visual perception is one of the most important sources of information for both humans and robots. A particular challenge is the acquisition and interpretation of complex unstructured scenes. This work contributes to active vision for humanoid robots. A semantic model of the scene is created, which is extended by successively changing the robot's view in order to explore interaction possibilities of the scene.
Push Recovery and Active Balancing for Inexpensive Humanoid Robots
Push Recovery and Active Balancing for Inexpensive Humanoid Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Push Recovery and Active Balancing for Inexpensive Humanoid Robots write by Amirhossein Hosseinmemar. This book was released on 2019. Push Recovery and Active Balancing for Inexpensive Humanoid Robots available in PDF, EPUB and Kindle. Active balancing of a humanoid robot is a challenging task due to the complexity of combining a walking gait, dynamic balancing, vision and high-level behaviors. My Ph.D research focuses on the active balancing and push recovery problems that allow inexpensive humanoid robots to balance while standing and walking, and to compensate for external forces. In this research, I have proposed a push recovery mechanism that employs two machine learning techniques, Reinforcement Learning (RL) and Deep Reinforcement Learning (DRL) to learn recovery step trajectories during push recovery using a closed-loop feedback control. I have implemented a 3D model using the Robot Operating System (ROS) and Gazebo. To reduce wear and tear on the real robot, I used this model for learning the recovery steps for different impact strengths and directions. I evaluated my approach in both in the real world and in simulation. All the real world experiments are performed by Polaris, a teen- sized humanoid robot in the Autonomous Agent Laboratory (AALab), University of Manitoba. The design, implementation, and evaluation of hardware, software, and kinematic models are discussed in this document.
Advances in Human Factors in Robots and Unmanned Systems
Advances in Human Factors in Robots and Unmanned Systems - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Advances in Human Factors in Robots and Unmanned Systems write by Jessie Chen. This book was released on 2018-06-23. Advances in Human Factors in Robots and Unmanned Systems available in PDF, EPUB and Kindle. This book focuses on the importance of human factors in the development of safe and reliable unmanned systems. It discusses current challenges such as how to improve the perceptual and cognitive abilities of robots, develop suitable synthetic vision systems, cope with degraded reliability in unmanned systems, predict robotic behavior in case of a loss of communication, the vision for future soldier–robot teams, human–agent teaming, real-world implications for human–robot interaction, and approaches to standardize both the display and control of technologies across unmanned systems. Based on the AHFE 2018 International Conference on Human Factors in Robots and Unmanned Systems, held on July 21–25, 2018, in Orlando, Florida, USA, this book fosters new discussions and stimulates new advances in the development of more reliable, safer, and highly functional devices for carrying out automated and concurrent tasks.
