Humanoid Behaviors: From Simulation to a Real Robot

• Type: Article in International Conference Proceedings Book
• Date: 2011

Authors

domingues, e (Author) Other; lau, n (Author) Other; pimentel, b (Author) Other; shafii, n (Author) Other; reis, lp (Author) FEUP; neves, ajr (Author) Other

Conference proceedings International

Title: PROGRESS IN ARTIFICIAL INTELLIGENCE

Pages: 352-364

15th Portuguese Conference on Artificial Intelligence (EPIA 2011)

Lisbon, PORTUGAL, OCT 10-13, 2011

Indexing

ISI Web of Knowledge - 14 Citations

Scopus - 18 Citations

Scientific classification

FOS: Natural sciences > Computer and information sciences

Other information

Authenticus ID: P-002-VYH

DOI: 10.1007/978-3-642-24769-9_26

Abstract (EN): This paper presents the modifications needed to adapt a humanoid agent architecture and behaviors from simulation to a real robot. The experiments were conducted using the Aldebaran Nao robot model. The agent architecture was adapted from the RoboCup 3D Simulation League to the Standard Platform League with as few changes as possible. The reasons for the modifications include small differences in the dimensions and dynamics of the simulated and the real robot and the fact that the simulator does not create an exact copy of a real environment. In addition, the real robot API is different from the simulated robot API and there are a few more restrictions on the allowed joint configurations. The general approach for using behaviors developed for simulation in the real robot was to: first, (if necessary) make the simulated behavior compliant with the real robot restrictions, second, apply the simulated behavior to the real robot reducing its velocity, and finally, increase the velocity, while adapting the behavior parameters, until the behavior gets unstable or inefficient. This paper also presents an algorithm to calculate the three angles of the hip that produce the desired vertical hip rotation, since the Nao robot does not have a vertical hip joint. All simulation behaviors described in this paper were successfully adapted to the real robot.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 13