@inproceedings{Dorer2017,
  author    = {Klaus Dorer},
  title     = {Learning to Use Toes in a Humanoid Robot},
  series = {RoboCup 2017: Robot World Cup XXI},
  editor    = {Hidehisa Akiyama and Oliver Obst and Claude Sammut and Flavio Tonidandel},
  edition   = {1.},
  publisher = {Springer},
  address   = {Heidelberg},
  isbn      = {978-3-030-00307-4 (Softcover)},
  issn      = {978-3-030-00308-1 (eBook)},
  doi       = {10.1007/978-3-030-00308-1\_14},
  pages     = {100 -- 111},
  year      = {2017},
  abstract  = {In this paper we show that a model-free approach to learn behaviors in joint space can be successfully used to utilize toes of a humanoid robot. Keeping the approach model-free makes it applicable to any kind of humanoid robot, or robot in general. Here we focus on the benefit on robots with toes which is otherwise more difficult to exploit. The task has been to learn different kick behaviors on simulated Nao robots with toes in the RoboCup 3D soccer simulator. As a result, the robot learned to step on its toe for a kick that performs 30\% better than learning the same kick without toes.},
  language  = {en}
}