Autonomous learning of ball passing by four-legged robots and trial reduction by thinning-out and surrogate functions

Hayato Kobayashi, Kohei Hatano, Akira Ishino, Ayumi Shinohara

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

Abstract

This paper describes an autonomous learning method used with real robots in order to acquire ball passing skills in the RoboCup standard platform league. These skills involve precisely moving and stopping a ball to a certain objective area and are essential to realizing sophisticated cooperative strategy. Moreover, we propose a hybrid method using "thinning-out" and "surrogate functions" in order to reduce actual trials regarded as unnecessary or unpromising. We verify the performance of our method using the minimization problems of several test functions, and then we address the learning problem of ball passing skills on real robots, which is also the first application of thinning-out on real environments.

Original languageEnglish
Title of host publicationIntelligent Autonomous Systems 10, IAS 2008
Pages145-154
Number of pages10
DOIs
Publication statusPublished - 2008 Dec 1
Event10th International Conference on Intelligent Autonomous Systems, IAS 2008 - Baden-Baden, Germany
Duration: 2008 Jul 232008 Jul 25

Publication series

NameIntelligent Autonomous Systems 10, IAS 2008

Other

Other10th International Conference on Intelligent Autonomous Systems, IAS 2008
CountryGermany
CityBaden-Baden
Period08/7/2308/7/25

Keywords

  • Autonomous learning
  • Four-legged robot
  • Robocup

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

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  • Cite this

    Kobayashi, H., Hatano, K., Ishino, A., & Shinohara, A. (2008). Autonomous learning of ball passing by four-legged robots and trial reduction by thinning-out and surrogate functions. In Intelligent Autonomous Systems 10, IAS 2008 (pp. 145-154). (Intelligent Autonomous Systems 10, IAS 2008). https://doi.org/10.3233/978-1-58603-887-8-145