Abstract
Coordinating complex motion sequences remains a challenging task for robotics. Machine Learning has aided this process, successfully improving motion sequences such as walking and grasping. However, to the best of our knowledge, outside of simulation, learning has never been applied to the task of kicking the ball. We apply machine learning methods to optimize kick power entirely on a real robot. The resulting learned kick is significantly more powerful than the most powerful hand-coded kick of one of the most successful RoboCup four-legged league teams, and is learned in a principled manner which requires very little engineering of the parameter space. Finally, model inversion is applied to the problem of creating a parameterized kick capable of kicking the ball a specified distance.
Chapter PDF
Similar content being viewed by others
References
Ahmadi, M., Stone, P.: Instance-based action models for fast action planning. In: Visser, U., Ribeiro, F., Ohashi, T., Dellaert, F. (eds.) RoboCup 2007: Robot Soccer World Cup XI. LNCS (LNAI), vol. 5001, pp. 1–16. Springer, Heidelberg (2008)
Baxter, J., Bartlett, P.L.: Infinite-horizon policy-gradient estimation. J. Artif. Intell. Res (JAIR) 15, 319–350 (2001)
Chernova, S., Veloso, M.: An evolutionary approach to gait learning for four-legged robots. In: Proceedings of IROS 2004 (September 2004)
Chernova, S., Veloso, M.: Learning and using models of kicking motions for legged robots. In: ICRA (May 2004)
Cherubini, A., Giannone, F., Iocchi, L.: Layered learning for a soccer legged robot helped with a 3d simulator, pp. 385–392 (2008)
Fidelman, P., Stone, P.: The chin pinch: A case study in skill learning on a legged robot. In: Lakemeyer, G., Sklar, E., Sorrenti, D.G., Takahashi, T. (eds.) RoboCup 2006: Robot Soccer World Cup X. LNCS (LNAI), vol. 4434, pp. 59–71. Springer, Heidelberg (2007)
Hester, T., Quinlan, M., Stone, P.: Generalized model learning for reinforcement learning on a humanoid robot. In: ICRA (May 2010)
Hornby, G., Takamura, S., Yokono, J., Hanagata, O., Yamamoto, T., Fujita, M.: Evolving robust gaits with aibo. In: IEEE International Conference on Robotics and Automation, pp. 3040–3045 (2000)
Hornby, G.S., Fujita, M., Takamura, S.: Autonomous evolution of gaits with the sony quadruped robot. In: Proceedings of the Genetic and Evolutionary Computation Conference, pp. 1297–1304. Morgan Kaufmann, San Francisco (1999)
Kim, M.S., Uther, W.: Automatic gait optimisation for quadruped robots. In: Australasian Conference on Robotics and Automation, Brisbane (December 2003)
Kobayashi, H., Osaki, T., Williams, E., Ishino, A., Shinohara, A.: Autonomous learning of ball trapping in the four-legged robot league, pp. 86–97 (2007)
Kohl, N., Stone, P.: Machine learning for fast quadrupedal locomotion. In: The Nineteenth National Conference on Artificial Intelligence (July 2004)
Quinlan, M.J., Chalup, S.K., Middleton, R.H.: Techniques for improving vision and locomotion on the sony aibo robot. In: Proceedings of the 2003 Australasian Conference on Robotics and Automation (2003)
Saggar, M., D’Silva, T., Kohl, N., Stone, P.: Autonomous learning of stable quadruped locomotion. In: Lakemeyer, G., Sklar, E., Sorrenti, D.G., Takahashi, T. (eds.) RoboCup 2006: Robot Soccer World Cup X. LNCS (LNAI), vol. 4434, pp. 98–109. Springer, Heidelberg (2007)
Stone, P.: Layered Learning in Multiagent Systems: A Winning Approach to Robotic Soccer. MIT Press, Cambridge (2000)
Sutton, R.S., Barto, A.G.: Reinforcement Learning: An Introduction (Adaptive Computation and Machine Learning), May 1998. Mit Pr (1998)
Sutton, R.S., Mcallester, D., Singh, S., Mansour, Y.: Policy gradient methods for reinforcement learning with function approximation. In: Advances in Neural Information Processing Systems 12, pp. 1057–1063. MIT Press, Cambridge (1999)
Zagal, J.C., Ruiz-del-Solar, J.: Learning to kick the ball using Back-to-Reality. In: Nardi, D., Riedmiller, M., Sammut, C., Santos-Victor, J. (eds.) RoboCup 2004. LNCS (LNAI), vol. 3276, pp. 335–346. Springer, Heidelberg (2005)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Hausknecht, M., Stone, P. (2011). Learning Powerful Kicks on the Aibo ERS-7: The Quest for a Striker. In: Ruiz-del-Solar, J., Chown, E., Plöger, P.G. (eds) RoboCup 2010: Robot Soccer World Cup XIV. RoboCup 2010. Lecture Notes in Computer Science(), vol 6556. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-20217-9_22
Download citation
DOI: https://doi.org/10.1007/978-3-642-20217-9_22
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-20216-2
Online ISBN: 978-3-642-20217-9
eBook Packages: Computer ScienceComputer Science (R0)