Autonomous learning of ball passing by four-legged robots and trial reduction by thinning-out and surrogate functions

Hayato Kobayashi; Kohei Hatano; Akira Ishino; Ayumi Shinohara

doi:10.3233/978-1-58603-887-8-145

Autonomous learning of ball passing by four-legged robots and trial reduction by thinning-out and surrogate functions

Hayato Kobayashi, Kohei Hatano, Akira Ishino, Ayumi Shinohara

Intelligence Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper describes an autonomous learning method used with real robots in order to acquire ball passing skills in the RoboCup standard platform league. These skills involve precisely moving and stopping a ball to a certain objective area and are essential to realizing sophisticated cooperative strategy. Moreover, we propose a hybrid method using "thinning-out" and "surrogate functions" in order to reduce actual trials regarded as unnecessary or unpromising. We verify the performance of our method using the minimization problems of several test functions, and then we address the learning problem of ball passing skills on real robots, which is also the first application of thinning-out on real environments.

Original language	English
Title of host publication	Intelligent Autonomous Systems 10, IAS 2008
Pages	145-154
Number of pages	10
DOIs	https://doi.org/10.3233/978-1-58603-887-8-145
Publication status	Published - 2008
Event	10th International Conference on Intelligent Autonomous Systems, IAS 2008 - Baden-Baden, Germany Duration: Jul 23 2008 → Jul 25 2008

Publication series

Name	Intelligent Autonomous Systems 10, IAS 2008

Other

Other	10th International Conference on Intelligent Autonomous Systems, IAS 2008
Country/Territory	Germany
City	Baden-Baden
Period	7/23/08 → 7/25/08

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Control and Systems Engineering

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10.3233/978-1-58603-887-8-145

Cite this

Autonomous learning of ball passing by four-legged robots and trial reduction by thinning-out and surrogate functions. / Kobayashi, Hayato; Hatano, Kohei; Ishino, Akira et al.
Intelligent Autonomous Systems 10, IAS 2008. 2008. p. 145-154 (Intelligent Autonomous Systems 10, IAS 2008).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kobayashi, H, Hatano, K, Ishino, A & Shinohara, A 2008, Autonomous learning of ball passing by four-legged robots and trial reduction by thinning-out and surrogate functions. in Intelligent Autonomous Systems 10, IAS 2008. Intelligent Autonomous Systems 10, IAS 2008, pp. 145-154, 10th International Conference on Intelligent Autonomous Systems, IAS 2008, Baden-Baden, Germany, 7/23/08. https://doi.org/10.3233/978-1-58603-887-8-145

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Autonomous learning of ball passing by four-legged robots and trial reduction by thinning-out and surrogate functions

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