Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/51453
Título: | Learning a humanoid kick with controlled distance |
Autor(es): | Abdolmaleki, Abbas Simões, David Lau, Nuno Reis, L. P. Neumann, Gerhard |
Palavras-chave: | Contextual policy search Humanoid robot Motor learning Non-linear policies |
Data: | 1-Jan-2017 |
Editora: | Springer Verlag |
Revista: | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) |
Citação: | Abdolmaleki, A., Simões, D., Lau, N., Reis, L. P., & Neumann, G. (2016, June). Learning a humanoid kick with controlled distance. In Robot World Cup (pp. 45-57). Springer, Cham. |
Resumo(s): | We investigate the learning of a flexible humanoid robot kick controller, i.e., the controller should be applicable for multiple contexts, such as different kick distances, initial robot position with respect to the ball or both. Current approaches typically tune or optimise the parameters of the biped kick controller for a single context, such as a kick with longest distance or a kick with a specific distance. Hence our research question is that, how can we obtain a flexible kick controller that controls the robot (near) optimally for a continuous range of kick distances? The goal is to find a parametric function that given a desired kick distance, outputs the (near) optimal controller parameters. We achieve the desired flexibility of the controller by applying a contextual policy search method. With such a contextual policy search algorithm, we can generalize the robot kick controller for different distances, where the desired distance is described by a real-valued vector. We will also show that the optimal parameters of the kick controller is a non-linear function of the desired distances and a linear function will fail to properly generalize the kick controller over desired kick distances. |
Tipo: | Artigo em ata de conferência |
URI: | https://hdl.handle.net/1822/51453 |
ISBN: | 978-3-319-68791-9 |
e-ISBN: | 978-3-319-68792-6 |
DOI: | 10.1007/978-3-319-68792-6_4 |
ISSN: | 0302-9743 |
Versão da editora: | https://link.springer.com/chapter/10.1007/978-3-319-68792-6_4#citeas |
Arbitragem científica: | yes |
Acesso: | Acesso restrito UMinho |
Aparece nas coleções: | DSI - Engenharia da Programação e dos Sistemas Informáticos |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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2017_RoboCupSymp_Learning a Humanoid KickWith Controlled Distance_Abdolmaleki_Lau_Reis.pdf Acesso restrito! | 1,3 MB | Adobe PDF | Ver/Abrir |