TY - GEN
T1 - Development of an augmented environment and autonomous learning for quadruped robots
AU - Kobayashi, Hayato
AU - Osaki, Tsugutoyo
AU - Okuyama, Tetsuro
AU - Ishino, Akira
AU - Shinohara, Ayumi
PY - 2009/9/28
Y1 - 2009/9/28
N2 - This paper describes an interactive experimental environment for autonomous soccer robots, which is a soccer field augmented by utilizing camera input and projector output. This environment, in a sense, plays an intermediate role between simulated environments and real environments. We can simulate some parts of real environments, e.g., real objects such as robots or a ball, and reflect simulated data into the real environments, e.g., to visualize the positions on the field, so as to create a situation that allows easy debugging of robot programs. As an application in the augmented environment, we address the learning of goalie strategies on real quadruped robots in penalty kicks. Our robots learn and acquire sophisticated strategies in a fully simulated environment, and then they autonomously adapt to real environments in the augmented environment.
AB - This paper describes an interactive experimental environment for autonomous soccer robots, which is a soccer field augmented by utilizing camera input and projector output. This environment, in a sense, plays an intermediate role between simulated environments and real environments. We can simulate some parts of real environments, e.g., real objects such as robots or a ball, and reflect simulated data into the real environments, e.g., to visualize the positions on the field, so as to create a situation that allows easy debugging of robot programs. As an application in the augmented environment, we address the learning of goalie strategies on real quadruped robots in penalty kicks. Our robots learn and acquire sophisticated strategies in a fully simulated environment, and then they autonomously adapt to real environments in the augmented environment.
UR - http://www.scopus.com/inward/record.url?scp=70349335552&partnerID=8YFLogxK
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U2 - 10.1007/978-3-642-02921-9_10
DO - 10.1007/978-3-642-02921-9_10
M3 - Conference contribution
AN - SCOPUS:70349335552
SN - 3642029205
SN - 9783642029202
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 109
EP - 120
BT - RoboCup 2008
T2 - 12th annual RoboCup International Symposium, RoboCup 2008
Y2 - 15 July 2008 through 18 July 2008
ER -