K. Berns
Forschungszentrum Informatik
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Publication
Featured researches published by K. Berns.
international conference on advanced intelligent mechatronics | 2001
Bernd Gassmann; Kay-Ulrich Scholl; K. Berns
In particular the advantages of legged compared to wheeled locomotion arise in unstructured, uneven and rough terrain. Based on the sensor system the behaviour control of LAURON III for walking in rough terrain is presented in this paper. To cope with terrain irregularities local behaviours like collision reaction and searching for ground are realised by an adaptation of the basic leg trajectories. Several global behaviours like the control of the body height and the centre of gravity influence the trajectories of all legs simultaneously.
intelligent robots and systems | 2001
Jan Albiez; Winfried Ilg; Tobias Luksch; K. Berns; Rüdiger Dillmann
Presents methods and experiments of adaptive posture control for a four legged walking machine. Starting from the analysis of the implemented movement behaviour of BISAM we identify adequate tasks for adaptive control components and present adaptive posture control mechanisms for statically stable and dynamically stable movements. The reflex-based posture control is implemented via fuzzy control and reinforcement learning. The integration of the posture control in the control architecture is also described.
CLAWAR 2001, Karlsruhe, Germany, September 2001 | 2001
F. Weise; J. Köhnen; H. Wiggenhauser; C. Hillenbrand; K. Berns
CLAWAR 2001 - Climbing and Walking Robots and the Support Technologies for Mobile Machines | 2001
K. Berns; Jan Albiez; V. Kepplin; C. Hillenbrand
international conference on mechatronics and machine vision in practice | 2001
C. Hillenbrand; K. Berns; F. Weise; J. Koehnen
international conference on advanced robotics | 2001
K. Berns; Jan Albiez; V. Kepplin; C. Hillenbrand
Proceedings of the 4th International Conference on Climbing and Walking Robots (CLAWAR) | 2001
Jan Albiez; Tobias Luksch; Winfried Ilg; K. Berns
international symposium on robotics | 2001
K. Berns; C. Hillenbrand
Proceedings of the Fifth International Conference on Climbing and Walking Robots (CLAWAR) | 2002
Bernd Gassmann; K. Berns
field and service robotics | 2001
Kay-Ulrich Scholl; V. Kepplin; K. Berns; Rüdiger Dillmann
