BALANCE RECOVERY OF A HUMANOID ROBOT USING COGNITIVE SENSORIMOTOR LOOPS (CSLs)

被引：0
|
作者：
Kubisch, Matthias [1 ]
Benckendorff, Christian [1 ]
Hild, Manfred [1 ]
机构：
[1] Humboldt Univ, Neurorobot Res Lab, Berlin, Germany
来源：
FIELD ROBOTICS | 2012年
关键词：
Balance Recovery; Sensorimotor Control; Humanoid Robots;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Recovering balance from unknown disturbances can be considered a complex sensorimotor ability of humanoid robots. We present so-called Cognitive Sensorimotor Loops (CSLs), discuss their properties and show how they can be used for motion generation and balance recovery on robots. Their behavioral abilities will be demonstrated on a single robot leg controlled by CSLs and we will show that a complex stand-up motion can emerge from the interplay of independent joint controllers. Furthermore, we explain how CSLs can be used to help a robot to adapt to changing slopes and recover balance after disturbance.
引用
收藏
页码：142 / 148
页数：7
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