Humanoid Robot Kick in Motion Ability for Playing Robotic Soccer

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2020

Autores

Teixeira, H (Autor) Outra; Maria Teresa Andrade (Autor) FEUP; Abreu, M (Autor) Outra; reis, lp (Autor) FEUP

Ata de Conferência Internacional

Título: 2020 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2020, Ponta Delgada, Portugal, April 15-17, 2020

Páginas: 34-39

2020 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2020

15 April 2020 through 16 April 2020

Indexação

ISI Web of Knowledge - 13 Citações

Scopus - 16 Citações

Outras Informações

ID Authenticus: P-00S-7A0

DOI: 10.1109/icarsc49921.2020.9096073

Abstract (EN): This work seeks to design and implement a humanoid robotic kick for situations where the robot is moving for the RoboCup simulation 3D robotic soccer league. It employs Reinforcement Learning (RL) techniques, namely the Proximal Policy Optimization (PPO) algorithm to create fast and reliable skills. The kick was divided into 6 cases according to initial conditions and separately trained for each of the cases. A series of kicks, both static and in motion, using two different gaits were developed. The kicks obtained show very high reliability and, when compared to state of the art kicks, displayed a very high time performance improvement. This opens the door to more dynamic games with faster kicks in the RoboCup simulation 3D league.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6