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

Institute of Computer Engineering

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.

Original language	English
Title of host publication	DIPES 2010, BICC 2010: Distributed, Parallel and Biologically Inspired Systems
Number of pages	12
Volume	329
Publisher	Springer Berlin Heidelberg
Publication date	01.01.2010
Pages	302-313
ISBN (Print)	978-3-642-15233-7
ISBN (Electronic)	978-3-642-15234-4
DOIs	https://doi.org/10.1007/978-3-642-15234-4_29
Publication status	Published - 01.01.2010
Event	7th IFIP TC 10 Working Conference on Distributed and Parallel Embedded Systems - Brisbane, Australia Duration: 20.09.2010 → 23.09.2010 Conference number: 126009

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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 (Vol. 329, pp. 302-313). (IFIP Advances in Information and Communication Technology; Vol. 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",

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

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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 . vol. 329, IFIP Advances in Information and Communication Technology, vol. 329, Springer Berlin Heidelberg, pp. 302-313, 7th IFIP TC 10 Working Conference on Distributed and Parallel Embedded Systems
, Brisbane, Queensland, Australia, 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 . Vol. 329 Springer Berlin Heidelberg, 2010. p. 302-313 (IFIP Advances in Information and Communication Technology; Vol. 329).

Research output: Chapters in Books/Reports/Conference Proceedings › Conference contribution › peer-review

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PY - 2010/1/1

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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.

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

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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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