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Erschienen in:
Review of Recent Advances on Reactionless Mechanisms and Parallel Robots Kapitel lesen Erstes Kapitel lesen

2016 | OriginalPaper | Buchkapitel

18. Dynamic Balancing of Mobile Robots in Simulation and Real Environments

verfasst von : Adrian Boeing, Thomas Bräunl

Erschienen in: Dynamic Balancing of Mechanisms and Synthesizing of Parallel Robots

Verlag: Springer International Publishing

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Abstract

Transferring an evolved control system from a simulated environment to the physical world poses a number of challenges. One of the most challenging control tasks is to generate a stable walking gait for a bipedal robot. We describe a method using a combination of repetitive splines and genetic algorithms to evolve a simulated control system for a humanoid robot, which is subsequently transferred to a real robot hardware. Multiple dynamic simulation systems can be simultaneously employed to provide a valid range of simulation variance. This will result in a much smaller reality gap and ultimately in a more robust control algorithm for the real robot.

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Vorheriges Kapitel Controlled Biped Balanced Locomotion and Climbing
Nächstes Kapitel Balancing Conditions of Planar and Spatial Mechanisms in the Algebraic Form
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Metadaten
Titel
Dynamic Balancing of Mobile Robots in Simulation and Real Environments
verfasst von
Adrian Boeing
Thomas Bräunl
Copyright-Jahr
2016
Buch
Dynamic Balancing of Mechanisms and Synthesizing of Parallel Robots

Print ISBN: 978-3-319-17682-6

Electronic ISBN: 978-3-319-17683-3

Copyright-Jahr: 2016

DOI
https://doi.org/10.1007/978-3-319-17683-3_18

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