Self-modeling in humanoid soccer robots

Zagal, JC; Delpiano, J; Ruiz del Solar, J

Abstract

In this paper we discuss the applicability, potential benefits, open problems and expected contributions that an emerging set of self-modeling techniques might bring on the development of humanoid soccer robots. The idea is that robots might continuously generate, validate and adjust physical models of their sensorimotor interaction with the world. These models are exploited for adapting behavior in simulation, enhancing the learning skills of a robot with the regular transference of controllers developed in simulation to reality. Moreover, these simulations can be used to aid the execution of complex sensorimotor tasks, speed up adaptation and enhance task planning. We present experiments on the generation of behaviors for humanoid soccer robots using the Back-to-Reality algorithm. General motivations are presented, alternative algorithms are discussed and, most importantly, directions of research are proposed. © 2009 Elsevier B.V. All rights reserved.

Más información

Título según WOS: Self-modeling in humanoid soccer robots
Título según SCOPUS: Self-modeling in humanoid soccer robots
Título de la Revista: ROBOTICS AND AUTONOMOUS SYSTEMS
Volumen: 57
Número: 8
Editorial: ELSEVIER SCIENCE BV
Fecha de publicación: 2009
Página de inicio: 819
Página final: 827
Idioma: English
URL: http://linkinghub.elsevier.com/retrieve/pii/S092188900900058X
DOI:

10.1016/j.robot.2009.03.010

Notas: ISI, SCOPUS