A framework for learning in humanoid simulated robots
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Data
2008-09-01
Autores
Colombini, Esther Luna
Da Silva Simöes, Alexandre [UNESP]
Martins, Antônio Cesar Germano [UNESP]
Matsuura, Jackson Paul
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Resumo
One of the most important characteristics of intelligent activity is the ability to change behaviour according to many forms of feedback. Through learning an agent can interact with its environment to improve its performance over time. However, most of the techniques known that involves learning are time expensive, i.e., once the agent is supposed to learn over time by experimentation, the task has to be executed many times. Hence, high fidelity simulators can save a lot of time. In this context, this paper describes the framework designed to allow a team of real RoboNova-I humanoids robots to be simulated under USARSim environment. Details about the complete process of modeling and programming the robot are given, as well as the learning methodology proposed to improve robot's performance. Due to the use of a high fidelity model, the learning algorithms can be widely explored in simulation before adapted to real robots. © 2008 Springer-Verlag Berlin Heidelberg.
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Palavras-chave
Education, Learning systems, Robot programming, Robotics, Robots, High-fidelity, High-fidelity simulators, International symposium, Real robots, RoboCup, Robot-soccer, Simulated robots, To many, World Cup, Learning algorithms
Como citar
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), v. 5001 LNAI, p. 345-352.