Self-modeling in humanoid soccer robots
Self-modeling in humanoid soccer robots
复制标题
人形足球机器人的自我建模
DOI：
10.1016/j.robot.2009.03.010
复制
发表时间：
2009
期刊：
影响因子：
--
通讯作者：
Javier Ruiz
中科院分区：
文献类型：
--
作者：
J. Zagal;J. Delpiano;Javier Ruiz
在本文中，我们将讨论的适用性，潜在的好处，开放的问题和预期的贡献，一套新兴的自建模技术可能会带来的人形足球机器人的发展。这个想法是，机器人可能会不断生成，验证和调整其与世界的感觉运动交互的物理模型。这些模型被利用来适应仿真中的行为，通过将仿真中开发的控制器定期转移到现实中来增强机器人的学习技能。此外，这些模拟可以用来帮助执行复杂的感觉运动任务，加快适应和增强任务规划。我们目前的实验生成的行为，人形足球机器人使用回到现实的算法。一般的动机，替代算法进行了讨论，最重要的是，提出了研究方向。
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.