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Document type:
Konferenzbeitrag 
Author(s):
Apostolopoulos, S.; Leibold (Sobotka), M.; Buss, M. 
Title:
2015 IEEE International Conference on Intelligent Robots and Systems (IROS) 
Pages contribution:
6402-6408 
Abstract:
This paper introduces a novel way to improve the settling time of transitions between different walking controllers. This improvement is achieved by commanding a sequence of intermediate transitions to the target controller. As a result, the state of the system enters the domain of attraction of the target controller closer to the fixed point of the Poincar´ e Map. The method is applicable to any walking robot with one degree of underactuation. The problem is expressed as a Markov Decision Proces...    »
 
Keywords:
Robot Reinforcement Learning, Underactuated Robots, Humanoid and Bipedal Locomotion 
Book / Congress title:
Settling Time Reduction for Underactuated Walking Robots 
Organization:
IEEE 
Date of congress:
September 28 - October 02, 2015 
Year:
2015 
Language:
en 
Semester:
SS 15