Throwing skill optimization through synchronization and desynchronization of degree of freedom

Yuji Kawai, Jihoon Park, Takato Horii, Yuji Oshima, Kazuaki Tanaka, Hiroki Mori, Yukie Nagai, Takashi Takuma, Minoru Asada

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

Humanoid robots have a large number of degrees of freedom (DoFs), therefore motor learning by such robots which explore the optimal parameters of behaviors is one of the most serious issues in humanoid robotics. In contrast, it has been suggested that humans can solve such a problem by synchronizing many body parts in the early stage of learning, and then desynchronizing their movements to optimize a behavior for a task. This is called as "Freeze and Release." We hypothesize that heuristic exploration through synchronization and desynchronization of DoFs accelerates motor learning of humanoid robots. In this paper, we applied this heuristic to a throwing skill learning in soccer. First, all motors related to the skill are actuated in a synchronized manner, thus the robot explores optimal timing of releasing a ball in one-dimensional search space. The DoFs are released gradually, which allows to search for the best timing to actuate the motors of all joints. The real robot experiments showed that the exploration method was fast and practical because the solution in low-dimensional subspace was approximately optimum.

Original languageEnglish
Title of host publicationRoboCup 2012
Subtitle of host publicationRobot Soccer World Cup XVI
Pages178-189
Number of pages12
DOIs
Publication statusPublished - 2013 Sep 9
Event16th International Symposium on Robot Soccer World Cup, RoboCup 2012 - Mexico City, Mexico
Duration: 2012 Jun 182012 Jun 24

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume7500 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other16th International Symposium on Robot Soccer World Cup, RoboCup 2012
CountryMexico
CityMexico City
Period12/6/1812/6/24

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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    Kawai, Y., Park, J., Horii, T., Oshima, Y., Tanaka, K., Mori, H., Nagai, Y., Takuma, T., & Asada, M. (2013). Throwing skill optimization through synchronization and desynchronization of degree of freedom. In RoboCup 2012: Robot Soccer World Cup XVI (pp. 178-189). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 7500 LNAI). https://doi.org/10.1007/978-3-642-39250-4_17