Zeitschriftenartikel
Online Learning of Bipedal Walking Stabilization
Vorschaubild nicht verfügbar
Volltext URI
Dokumententyp
Text/Journal Article
Zusatzinformation
Datum
2015
Autor:innen
Zeitschriftentitel
ISSN der Zeitschrift
Bandtitel
Verlag
Springer
Zusammenfassung
Bipedal walking is a complex whole-body motion with inherently unstable dynamics that makes the design of a robust controller particularly challenging. While a walk controller could potentially be learned with the hardware in the loop, the destructive nature of exploratory motions and the impracticality of a high number of required repetitions render most of the existing machine learning methods unsuitable for an online learning setting with real hardware. In a project in the DFG Priority Programme Autonomous Learning, we are investigating ways of bootstrapping the learning process with basic walking skills and enabling a humanoid robot to autonomously learn how to control its balance during walking.