TY  - CHAP
U1  - Konferenzveröffentlichung
A1  - Dorer, Klaus
ED  - Akiyama, Hidehisa
ED  - Obst, Oliver
ED  - Sammut, Claude
ED  - Tonidandel, Flavio
T1  - Learning to Use Toes in a Humanoid Robot
T2  - RoboCup 2017: Robot World Cup XXI
N2  - 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.
KW  - Machine Learning
KW  - Robotic Soccer
KW  - Humanoid Robots
Y1  - 2017
UR  - https://robocup.hs-offenburg.de/fileadmin/Sonstige_Unterseiten/magma/files/publications/robocupSymposium2017.pdf
SN  - 978-3-030-00308-1 (eBook)
SS  - 978-3-030-00308-1 (eBook)
SN  - 978-3-030-00307-4 (Softcover)
SB  - 978-3-030-00307-4 (Softcover)
U6  - https://doi.org/10.1007/978-3-030-00308-1_14
DO  - https://doi.org/10.1007/978-3-030-00308-1_14
SP  - 100
EP  - 111
PB  - Springer
CY  - Heidelberg
ET  - 1.
ER  -