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.
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 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.
Trends in Artificial Intelligence Theory and Applications. Artificial Intelligence Practices
Trends in Artificial Intelligence Theory and Applications. Artificial Intelligence Practices - 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 Trends in Artificial Intelligence Theory and Applications. Artificial Intelligence Practices write by Hamido Fujita. This book was released on 2020-09-04. Trends in Artificial Intelligence Theory and Applications. Artificial Intelligence Practices available in PDF, EPUB and Kindle. This book constitutes the thoroughly refereed proceedings of the 33rd International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2020, held in Kitakyushu, Japan, in September 2020. The 62 full papers and 17 short papers presented were carefully reviewed and selected from 119 submissions. The IEA/AIE 2020 conference will continue the tradition of emphasizing on applications of applied intelligent systems to solve real-life problems in all areas. These areas include are language processing; robotics and drones; knowledge based systems; innovative applications of intelligent systems; industrial applications; networking applications; social network analysis; financial applications and blockchain; medical and health-related applications; anomaly detection and automated diagnosis; decision-support and agent-based systems; multimedia applications; machine learning; data management and data clustering; pattern mining; system control, classification, and fault diagnosis.
Recent Trends and Future Technology in Applied Intelligence
Recent Trends and Future Technology in Applied Intelligence - 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 Recent Trends and Future Technology in Applied Intelligence write by Malek Mouhoub. This book was released on 2018-06-14. Recent Trends and Future Technology in Applied Intelligence available in PDF, EPUB and Kindle. This book constitutes the thoroughly refereed proceedings of the 31st International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2018, held in Montreal, QC, Canada, in June 2018. The 53 full papers and 33 short papers presented were carefully reviewed and selected from 146 submissions. They are organized in the following topical sections: constraint solving and optimization; data mining and knowledge discovery; evolutionary computation; expert systems and robotics; knowledge representation, machine learning; meta-heuristics; multi-agent systems; natural language processing; neural networks; planning, scheduling and spatial reasoning; rough sets, Internet of Things (IoT), ubiquitous computing and big data; data science, privacy, and security; inelligent systems approaches in information extraction; and artificial intelligence, law and justice.
Push Recovery Control for Force-controlled Humanoid Robots
Push Recovery Control for Force-controlled 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 Control for Force-controlled Humanoid Robots write by Benjamin Stephens. This book was released on 2011. Push Recovery Control for Force-controlled Humanoid Robots available in PDF, EPUB and Kindle. Abstract: "Humanoid robots represent the state of the art in complex robot systems. High performance controllers that can handle unknown perturbations will be required if complex robots are to one day interact safely with people in everyday environments. Analyzing and predicting full-body behaviors is difficult in humanoid robots because of the high number of degrees of freedom and unstable nature of the dynamics. This thesis demonstrates the use of simple models to approximate the dynamics and simplify the design of reactive balance controllers. These simple models define distinct balance recovery strategies and improve state estimation. Push Recovery Model Predictive Control (PR-MPC), an optimization-based reactive balance controller that considers future actions and constraints using a simple COM model, is presented. This controller outputs feasible controls which are realized by Dynamic Balance Force Control (DBFC), a force controller that produces full-body joint torques. Push recovery, walking, and other force-based tasks are presented both in simulation and in experiments on the Sarcos Primus hydraulic humanoid robot."
