A SHOOTING STRATEGY WHEN MOVING ON HUMANOID ROBOTS USING INVERSE KINEMATICS AND Q -LEARNING

Amin Rezaeipanah, Zahra Jamshidi, and Shahram Jafari

References

  1. [1] C. Zhou, Rules for the RoboCup humanoid league, Advanced Robotics, 18(7), 2004, 721–724.
  2. [2] H. He, Z. Liang, Y. Lu, C. Xu, B. Yang, and F. Fang, Dynamic kick optimization of humanoid robot based on options framework, 2019 Chinese Control and Decision Conf., IEEE, Nanchang, China, 2019, 5176–5181.
  3. [3] J. Müller, T. Laue, and T. Röfer, Kicking a ball–modeling complex dynamic motions for humanoid robots, Robot Soccer World Cup, Berlin, Heidelberg, 2010, 109–120.
  4. [4] T. Silva and H. Teixeira, Humanoid robot kick in motion ability for playing robotic soccer, Ph.D. Dissertation, University of Porto, Portugal, 2020. Accessed 29 August 2020.
  5. [5] C.J. Watkins and P. Dayan, Q-learning, Machine learning, 8(3–4), 1992, 279–292.
  6. [6] A.E. Martin and J.P. Schmiedeler, Predicting human walking gaits with a simple planar model, Journal of biomechanics, 47(6), 2014, 1416–1421.
  7. [7] A. Abdolmaleki, D. Simões, N. Lau, L.P. Reis, and G. Neumann, Learning a humanoid kick with controlled distance, Robot World Cup, Springer, Cham, 2016, 45–57.
  8. [8] T. Röfer, T. Laue, A. Hasselbring, J. Richter-Klug, and E. Röhrig, B-Human 2017 – team tactics and robot skills in the standard platform league, Robot World Cup, Nagoya, Japan, 2017, 461–472.
  9. [9] S.G. McGill, S.J. Yi, Y. Zhang, and D.D. Lee, Extensions of a RoboCup soccer software framework, Robot Soccer World Cup, Berlin, Heidelberg, 2013, 608–615.
  10. [10] N. Hansen and A. Ostermeier, Completely derandomized selfadaptation in evolution strategies, Evolutionary Computation, 9(2), 2001, 159–195.
  11. [11] X. Li, Z. Liang, and H. Feng, Kicking motion planning of NAO robots based on CMA-ES, Control and Decision Conf., 2015 27th Chinese, Qingdao, China, 2015, 6158–6161.
  12. [12] P. Nasrollahi, S. Jafari, and M. Ebrahimi, Action classification of humanoid soccer robots using machine learning, The 16th CSI International Symposium on Artificial Intelligence and Signal Proc., IEEE, Shiraz, Iran, 2012, 598–603.
  13. [13] Z. Liang and Y. Hao, Adaptive particle filter for self-localization of RoboCup 3D soccer robots, International Journal of Robotics and Automation, 29(3), 2014, 312–318.
  14. [14] S.C. Han and H.X. Li, Invertible incline matrices and Cramer rule over inclines, Linear Algebra and its Applications, 389, 2014, 121–138.
  15. [15] Q. Huang, K. Yokoi, S. Kajita, K. Kaneko, H. Arai, and N. Koyachi, Planning walking patterns for a biped robot, Transactions on Robotics and Automation, 17(3), 2001, 280– 289.
  16. [16] Binaries File, https://archive.RoboCup.info/Soccer/Simulation/ 3D/binaries/RoboCup/ (accessed Aug. 29, 2020).
  17. [17] S. Daniluk and M.R. Emami, An advice mechanism for heterogeneous robot teams, International Journal of Robotics and Automation, 35(1), 2020.

Important Links:

Go Back