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Title:

2015 IEEE International Conference on Intelligent Robots and Systems (IROS)

Document type:
Konferenzbeitrag
Author(s):
Apostolopoulos, Sotirios; Sobotka (Leibold), Marion; Buss, Martin
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
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