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TitleLearning a humanoid kick with controlled distance
Author(s)Abdolmaleki, Abbas
Simões, David
Lau, Nuno
Reis, L. P.
Neumann, Gerhard
KeywordsContextual policy search
Humanoid robot
Motor learning
Non-linear policies
Issue date1-Jan-2017
JournalLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
CitationAbdolmaleki, A., Simões, D., Lau, N., Reis, L. P., & Neumann, G. (2016, June). Learning a humanoid kick with controlled distance. In Robot World Cup (pp. 45-57). Springer, Cham.
Abstract(s)We investigate the learning of a flexible humanoid robot kick controller, i.e., the controller should be applicable for multiple contexts, such as different kick distances, initial robot position with respect to the ball or both. Current approaches typically tune or optimise the parameters of the biped kick controller for a single context, such as a kick with longest distance or a kick with a specific distance. Hence our research question is that, how can we obtain a flexible kick controller that controls the robot (near) optimally for a continuous range of kick distances? The goal is to find a parametric function that given a desired kick distance, outputs the (near) optimal controller parameters. We achieve the desired flexibility of the controller by applying a contextual policy search method. With such a contextual policy search algorithm, we can generalize the robot kick controller for different distances, where the desired distance is described by a real-valued vector. We will also show that the optimal parameters of the kick controller is a non-linear function of the desired distances and a linear function will fail to properly generalize the kick controller over desired kick distances.
TypeConference paper
Publisher version
AccessRestricted access (UMinho)
Appears in Collections:DSI - Engenharia da Programação e dos Sistemas Informáticos

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