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Learning to Use Toes in a Humanoid Robot

  • 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 onIn 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.show moreshow less

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Metadaten
Author:Klaus DorerGND
Editor:Hidehisa Akiyama, Oliver Obst, Claude Sammut, Flavio Tonidandel
Publisher:Springer
Place of publication:Heidelberg
Year of Publication:2017
Page Number:12
Language:English
Tag:Humanoid Robots; Machine Learning; Robotic Soccer
Parent Title (English):RoboCup 2017: Robot World Cup XXI
First Page:100
Last Page:111
Document Type:Conference Proceeding
Open Access:Frei zugänglich
Institutes:Bibliografie
Release Date:2018/01/13
Licence (German):License LogoEs gilt das UrhG
Note:
Konferenz: RoboCup2017, Nagoya, Japan(ロボカップ2017)
URL:https://www.robocup2017.org/file/symposium/RoboCup_Symposium_2017_paper_6.pdf