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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
Document Type:Conference Proceeding
Conference Type:Konferenzartikel
Zitierlink: https://opus.hs-offenburg.de/2508
Bibliografische Angaben
Title (English):Learning to Use Toes in a Humanoid Robot
Conference:RoboCup 2017, 27. bis 30. Juli 2017, Nagoya, Japan
Author:Klaus DorerStaff MemberORCiDGND
Edition:1.
Year of Publication:2017
Place of publication:Heidelberg
Publisher:Springer
First Page:100
Last Page:111
Parent Title (English):RoboCup 2017: Robot World Cup XXI
Editor:Hidehisa Akiyama, Oliver Obst, Claude Sammut, Flavio Tonidandel
ISBN:978-3-030-00307-4 (Softcover)
ISSN:978-3-030-00308-1 (eBook)
DOI:https://doi.org/10.1007/978-3-030-00308-1_14
URL:https://robocup.hs-offenburg.de/fileadmin/Sonstige_Unterseiten/magma/files/publications/robocupSymposium2017.pdf
Language:English
Inhaltliche Informationen
Institutes:Fakultät Elektrotechnik und Informationstechnik (E+I) (bis 03/2019)
Institutes:Bibliografie
Projekte / Magma Offenburg
Tag:Humanoid Robots; Machine Learning; Robotic Soccer
Formale Angaben
Open Access: Open Access 
Licence (German):License LogoUrheberrechtlich geschützt