Self-modeling in humanoid soccer robots

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...

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Bibliographic Details
Published in:Robotics and autonomous systems 2009-07, Vol.57 (8), p.819-827
Main Authors: Zagal, Juan Cristóbal, Delpiano, José, Ruiz-del-Solar, Javier
Format: Article
Language:English
Subjects:
Emergence of behavior
Humanoid soccer robots
Self-modeling
Sensorimotor adaptation
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Summary: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.
ISSN:0921-8890
1872-793X
DOI:10.1016/j.robot.2009.03.010