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Combining Static and Runtime Methods to Achieve Safe Standing-Up for Humanoid Robots

  • Francesco Leofante
  • Simone Vuotto
  • Erika Ábrahám
  • Armando TacchellaEmail author
  • Nils Jansen
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9952)

Abstract

Due to its complexity, the standing-up task for robots is highly challenging, and often implemented by scripting the strategy that the robot should execute per hand. In this paper we aim at improving the approach of a scripted stand-up strategy by making it more stable and safe. To achieve this aim, we apply both static and runtime methods by integrating reinforcement learning, static analysis and runtime monitoring techniques.

Keywords

Model Check Reinforcement Learning Action Space Goal State Humanoid Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer International Publishing AG 2016

Authors and Affiliations

  • Francesco Leofante
    • 1
  • Simone Vuotto
    • 1
    • 2
  • Erika Ábrahám
    • 2
  • Armando Tacchella
    • 1
    Email author
  • Nils Jansen
    • 3
  1. 1.University of GenoaGenoaItaly
  2. 2.RWTH Aachen UniversityAachenGermany
  3. 3.University of Texas at AustinAustinUSA

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