Abstract : In this paper we elaborate a study on self-stabilizing humanoid robot that achieves run-time self-stabilization and energy optimized walking gait pattern parameters on different kinds of flat surfaces. The algorithmic approach named SelSta uses biologically inspired notions that introduce robustness into the self-stabilizing functionality of the humanoid robot. The approach has been practically tested on our S2-HuRo humanoid robot and the results from the tests demonstrate that it can be successfully used on humanoid robots to achieve autonomic optimized stabilization of their walking on different kinds of flat surfaces.
Mike Hinchey; Bernd Kleinjohann; Lisa Kleinjohann; Peter A. Lindsay; Franz J. Rammig; Jon Timmis; Marilyn Wolf. 7th IFIP TC 10 Working Conference on Distributed, Parallel and Biologically Inspired Systems (DIPES) / 3rd IFIP TC 10 International Conference on Biologically-Inspired Collaborative Computing (BICC) / Held as Part of World Computer Congress (WCC) , Sep 2010, Brisbane, Australia. Springer, IFIP Advances in Information and Communication Technology, AICT-329, pp.302-313, 2010, Distributed, Parallel and Biologically Inspired Systems. 〈10.1007/978-3-642-15234-4_29〉
https://hal.inria.fr/hal-01054490
Contributeur : Hal Ifip
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Soumis le : jeudi 7 août 2014 - 08:49:47
Dernière modification le : vendredi 1 décembre 2017 - 01:09:52
Document(s) archivé(s) le : mercredi 26 novembre 2014 - 01:21:05
Bojan Jakimovski, Michael Kotke, Martin Hörenz, Erik Maehle. SelSta - A Biologically Inspired Approach for Self-Stabilizing Humanoid Robot Walking. Mike Hinchey; Bernd Kleinjohann; Lisa Kleinjohann; Peter A. Lindsay; Franz J. Rammig; Jon Timmis; Marilyn Wolf. 7th IFIP TC 10 Working Conference on Distributed, Parallel and Biologically Inspired Systems (DIPES) / 3rd IFIP TC 10 International Conference on Biologically-Inspired Collaborative Computing (BICC) / Held as Part of World Computer Congress (WCC) , Sep 2010, Brisbane, Australia. Springer, IFIP Advances in Information and Communication Technology, AICT-329, pp.302-313, 2010, Distributed, Parallel and Biologically Inspired Systems. 〈10.1007/978-3-642-15234-4_29〉. 〈hal-01054490〉
