Paper Info
Title
Development Of An Interactive Augmented Environment And Its Application To Autonomous Learning For Quadruped Robots
Abstract
This paper describes an interactive experimental environment for autonomous soccer robots, which is a soccer field augmented by utilizing camera input and projector output. This environment, in a sense, plays an intermediate role between simulated environments and real environments. We can simulate some parts of real environments, e.g., real objects such as robots or a ball, and reflect simulated data into the real environments, e.g., to visualize the positions on the field, so as to create a situation that allows easy debugging of robot programs. The significant point compared with analogous work is that virtual objects are touchable in this system owing to projectors. We also show the portable version of our system that does not require ceiling cameras. As an application in the augmented environment, we address the learning of goalie strategies on real quadruped robots in penalty kicks. We make our robots utilize virtual balls in order to perform only quadruped locomotion in real environments, which is quite difficult to simulate accurately. Our robots autonomously learn and acquire more beneficial strategies without human intervention in our augmented environment than those in a fully simulated environment.
Year
DOI
Venue
2009
10.1587/transinf.E92.D.1752
IEICE TRANSACTIONS ON INFORMATION AND SYSTEMS
Keywords
Field
DocType
augmented reality, autonomous learning, four-legged robot, robocup
Computer vision,Computer science,Ball (bearing),Ceiling (aeronautics),Projector,Augmented reality,Artificial intelligence,Autonomous system (mathematics),Robot,Robotics,Debugging
Journal
Volume
Issue
ISSN
E92D
9
1745-1361
Citations 
PageRank 
References 
1
0.36
4
Authors
6
Name
Order
Citations
PageRank
Hayato Kobayashi1214.69
Tsugutoyo Osaki241.17
Tetsuro Okuyama310.70
Joshua Gramm410.36
Akira Ishino5547.31
Ayumi Shinohara693688.28