SelSta - A Biologically Inspired Approach for Self-Stabilizing Humanoid Robot Walking

Bojan Jakimovski; Michael Kotke; Martin Hörenz; Erik Maehle

doi:10.1007/978-3-642-15234-4_29

SelSta - A Biologically Inspired Approach for Self-Stabilizing Humanoid Robot Walking

Bojan Jakimovski, Michael Kotke, Martin Hörenz, Erik Maehle

Institut für Technische Informatik

Institute of Computer Engineering

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.

Originalsprache	Englisch
Titel	DIPES 2010, BICC 2010: Distributed, Parallel and Biologically Inspired Systems
Seitenumfang	12
Band	329
Herausgeber (Verlag)	Springer Berlin Heidelberg
Erscheinungsdatum	01.01.2010
Seiten	302-313
ISBN (Print)	978-3-642-15233-7
ISBN (elektronisch)	978-3-642-15234-4
DOIs	https://doi.org/10.1007/978-3-642-15234-4_29
Publikationsstatus	Veröffentlicht - 01.01.2010
Veranstaltung	7th IFIP TC 10 Working Conference on Distributed and Parallel Embedded Systems - Brisbane, Australien Dauer: 20.09.2010 → 23.09.2010 Konferenznummer: 126009

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10.1007/978-3-642-15234-4_29

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Jakimovski, B., Kotke, M., Hörenz, M., & Maehle, E. (2010). SelSta - A Biologically Inspired Approach for Self-Stabilizing Humanoid Robot Walking. in DIPES 2010, BICC 2010: Distributed, Parallel and Biologically Inspired Systems (Band 329, S. 302-313). (IFIP Advances in Information and Communication Technology; Band 329). Springer Berlin Heidelberg. https://doi.org/10.1007/978-3-642-15234-4_29

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title = "SelSta - A Biologically Inspired Approach for Self-Stabilizing Humanoid Robot Walking",

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.",

author = "Bojan Jakimovski and Michael Kotke and Martin H{\"o}renz and Erik Maehle",

year = "2010",

month = jan,

day = "1",

doi = "10.1007/978-3-642-15234-4_29",

language = "English",

isbn = "978-3-642-15233-7",

volume = "329",

series = "IFIP Advances in Information and Communication Technology",

publisher = "Springer Berlin Heidelberg",

pages = "302--313",

booktitle = "DIPES 2010, BICC 2010: Distributed, Parallel and Biologically Inspired Systems",

note = "7th IFIP TC 10 Working Conference on Distributed and Parallel Embedded Systems <br/>, DIPES 2010 ; Conference date: 20-09-2010 Through 23-09-2010",

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Jakimovski, B, Kotke, M, Hörenz, M & Maehle, E 2010, SelSta - A Biologically Inspired Approach for Self-Stabilizing Humanoid Robot Walking. in DIPES 2010, BICC 2010: Distributed, Parallel and Biologically Inspired Systems . Bd. 329, IFIP Advances in Information and Communication Technology, Bd. 329, Springer Berlin Heidelberg, S. 302-313, 7th IFIP TC 10 Working Conference on Distributed and Parallel Embedded Systems
, Brisbane, Queensland, Australien, 20.09.10. https://doi.org/10.1007/978-3-642-15234-4_29

SelSta - A Biologically Inspired Approach for Self-Stabilizing Humanoid Robot Walking. / Jakimovski, Bojan; Kotke, Michael; Hörenz, Martin et al.
DIPES 2010, BICC 2010: Distributed, Parallel and Biologically Inspired Systems . Band 329 Springer Berlin Heidelberg, 2010. S. 302-313 (IFIP Advances in Information and Communication Technology; Band 329).

Publikation: Kapitel in Büchern/Berichten/Konferenzbänden › Konferenzbeitrag › Begutachtung

TY - GEN

T1 - SelSta - A Biologically Inspired Approach for Self-Stabilizing Humanoid Robot Walking

AU - Jakimovski, Bojan

AU - Kotke, Michael

AU - Hörenz, Martin

AU - Maehle, Erik

N1 - Conference code: 126009

PY - 2010/1/1

Y1 - 2010/1/1

N2 - 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.

AB - 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.

UR - https://www.scopus.com/record/display.uri?eid=2-s2.0-84943572091&origin=inward&txGid=14fabccfd07ee38e189ba59fc98a67e8

U2 - 10.1007/978-3-642-15234-4_29

DO - 10.1007/978-3-642-15234-4_29

M3 - Conference contribution

SN - 978-3-642-15233-7

VL - 329

T3 - IFIP Advances in Information and Communication Technology

SP - 302

EP - 313

BT - DIPES 2010, BICC 2010: Distributed, Parallel and Biologically Inspired Systems

PB - Springer Berlin Heidelberg

T2 - 7th IFIP TC 10 Working Conference on Distributed and Parallel Embedded Systems <br/>

Y2 - 20 September 2010 through 23 September 2010

ER -

SelSta - A Biologically Inspired Approach for Self-Stabilizing Humanoid Robot Walking

Abstract

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