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Designing and Optimization of Omni-Directional Kick for Bipedal Robots

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Part of the Lecture Notes in Computer Science book series (LNAI,volume 7906)

Abstract

The paper presents designing and optimization of key-frame based kick skills for bipedal robots. The kicks, evolved via evolutionary algorithms, allow a humanoid robot to kick in straight, sideways, backward and in angular directions. Experiments are conducted on the simulated model of Nao robot that is being used in the RoboCup Soccer 3D Simulation league. The initial sets of kicks were manually designed by human experts and were passed as seed values to the optimization process. Correctness in the kick direction and the distance covered by the ball were used as the fitness criteria. The findings of the paper not only significantly improves the capability of our RoboCup Soccer 3D team but also provides insight in the designing and optimization of key-frame based kicks that can be utilized by other teams participating in bipedal soccer.

Keywords

  • Joint Angle
  • Multiagent System
  • Humanoid Robot
  • Bipedal Robot
  • Reachable Space

These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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  • DOI: 10.1007/978-3-642-38577-3_30
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Raza, S.A., Haider, S. (2013). Designing and Optimization of Omni-Directional Kick for Bipedal Robots. In: Ali, M., Bosse, T., Hindriks, K.V., Hoogendoorn, M., Jonker, C.M., Treur, J. (eds) Recent Trends in Applied Artificial Intelligence. IEA/AIE 2013. Lecture Notes in Computer Science(), vol 7906. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-38577-3_30

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  • DOI: https://doi.org/10.1007/978-3-642-38577-3_30

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-38576-6

  • Online ISBN: 978-3-642-38577-3

  • eBook Packages: Computer ScienceComputer Science (R0)