Neues Konzept zur Bewegungsanalyse und -synthese für Humanoide Roboter basierend auf Vorbildern aus der Biologie
Abstract
New methods to generate and analyze motions of humanoid robots are presented and applied to a demonstrator. Reflexes of humans and neural central pattern generators (CPGs) were used as archetype. With leaky Integrate-and-Fire neurons a generic reflex template was designed and put to work for several specialized reflexes. The designed CPGs were used to analyze robotik motion as well as for generation of locomotion patterns on a biped demonstrator.
Keywords
Reflexe; Humanoider Roboter; Zentrale MustergeneratorenHumanoid Robot; CentralPatternGenerator; ReflexesISBN
9783731501947Publisher
KIT Scientific PublishingPublisher website
http://www.ksp.kit.edu/Publication date and place
2013Series
Schriftenreihe des Instituts für Angewandte Informatik - Automatisierungstechnik, Karlsruher Institut für Technologie,Classification
Technology: general issues