Experience-based adaptation of locomotion behaviors for kinematically complex robots in unstructured terrain
Alexander Dettmann, Anna Born, Sebastian Bartsch, Frank Kirchner
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.
BibTeX
@inproceedings{iros2015_experiencebaseda,
title = {Experience-based adaptation of locomotion behaviors for kinematically complex robots in unstructured terrain},
author = {Alexander Dettmann and Anna Born and Sebastian Bartsch and Frank Kirchner},
booktitle = {IROS 2015},
year = {2015}
}