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Experience-based adaptation of locomotion behaviors for kinematically complex robots in unstructured terrain | IEEE Conference Publication | IEEE Xplore

Experience-based adaptation of locomotion behaviors for kinematically complex robots in unstructured terrain


Abstract:

Kinematically complex robots such as legged robots provide a large degree of mobility and flexibility, but demand a sophisticated motion control, which has more tunable p...Show More

Abstract:

Kinematically complex robots such as legged robots provide a large degree of mobility and flexibility, but demand a sophisticated motion control, which has more tunable parameters than a general planning and decision layer should take into consideration. A lot of parameterizations exist which produce locomotion behaviors that fulfill the desired action but with varying performance, e.g., stability or efficiency. In addition, the performance of a locomotion behavior at any given time is highly depending on the current environmental context. Consequently, a complex mapping is required that closes the gap between robot-independent actions and robot-specific control parameters considering the environmental context and a given prioritization of performance indices.
Date of Conference: 28 September 2015 - 02 October 2015
Date Added to IEEE Xplore: 17 December 2015
ISBN Information:
Conference Location: Hamburg, Germany

References

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