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Neues Konzept zur Bewegungsanalyse und -synthese für Humanoide Roboter basierend auf Vorbildern aus der Biologie

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Book Series: Schriftenreihe des Instituts für Angewandte Informatik - Automatisierungstechnik, Karlsruher Institut für Technologie ISSN: 16145267 ISBN: 9783731501947 Year: Volume: 48 Pages: VIII, 217 p. DOI: 10.5445/KSP/1000039463 Language: GERMAN
Publisher: KIT Scientific Publishing
Subject: Technology (General)
Added to DOAB on : 2019-07-30 20:01:58
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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.

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