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

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルRoboCup 2012
ホスト出版物のサブタイトルRobot Soccer World Cup XVI
ページ178-189
ページ数12
DOI
出版ステータスPublished - 2013
外部発表はい
イベント16th International Symposium on Robot Soccer World Cup, RoboCup 2012 - Mexico City, Mexico
継続期間: 2012 6 182012 6 24

出版物シリーズ

名前Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
7500 LNAI
ISSN(印刷版)0302-9743
ISSN(電子版)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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