Online Learning of Bipedal Walking Stabilization
| dc.contributor.author | Missura, Marcell | |
| dc.contributor.author | Behnke, Sven | |
| dc.date.accessioned | 2018-01-08T09:18:05Z | |
| dc.date.available | 2018-01-08T09:18:05Z | |
| dc.date.issued | 2015 | |
| dc.description.abstract | 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. | |
| dc.identifier.pissn | 1610-1987 | |
| dc.identifier.uri | https://dl.gi.de/handle/20.500.12116/11491 | |
| dc.publisher | Springer | |
| dc.relation.ispartof | KI - Künstliche Intelligenz: Vol. 29, No. 4 | |
| dc.relation.ispartofseries | KI - Künstliche Intelligenz | |
| dc.subject | Bipedal walking | |
| dc.subject | Online learning | |
| dc.subject | Push recovery | |
| dc.title | Online Learning of Bipedal Walking Stabilization | |
| dc.type | Text/Journal Article | |
| gi.citation.endPage | 405 | |
| gi.citation.startPage | 401 |