Optimization Approach for the Development of Humanoid Robots' Behaviors

Detalhes bibliográficos
Autor(a) principal: Luís Paulo Reis
Data de Publicação: 2012
Outros Autores: Luís Cruz, Armando Sousa, Nuno Lau
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://repositorio.inesctec.pt/handle/123456789/2691
Resumo: Humanoid robots usually have a large number of degrees of freedom which turns humanoid control into a very complex problem. Humanoids are used in several RoboCup soccer leagues. In this work, the SimSpark simulator of the Simulation 3D will be used. This paper presents an automatic approach for developing humanoid behaviors based on the development of a generic optimization system. The paper describes the adopted architecture, main design choices and the results achieved with the optimization of a side kick and a forward kick. For both skills, the optimization approach allowed the creation of faster and more powerful and stable behaviors.
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spelling Optimization Approach for the Development of Humanoid Robots' BehaviorsHumanoid robots usually have a large number of degrees of freedom which turns humanoid control into a very complex problem. Humanoids are used in several RoboCup soccer leagues. In this work, the SimSpark simulator of the Simulation 3D will be used. This paper presents an automatic approach for developing humanoid behaviors based on the development of a generic optimization system. The paper describes the adopted architecture, main design choices and the results achieved with the optimization of a side kick and a forward kick. For both skills, the optimization approach allowed the creation of faster and more powerful and stable behaviors.2017-11-16T14:00:05Z2012-01-01T00:00:00Z2012info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://repositorio.inesctec.pt/handle/123456789/2691engLuís Paulo ReisLuís CruzArmando SousaNuno Lauinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-05-15T10:20:51Zoai:repositorio.inesctec.pt:123456789/2691Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:53:42.439899Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Optimization Approach for the Development of Humanoid Robots' Behaviors
title Optimization Approach for the Development of Humanoid Robots' Behaviors
spellingShingle Optimization Approach for the Development of Humanoid Robots' Behaviors
Luís Paulo Reis
title_short Optimization Approach for the Development of Humanoid Robots' Behaviors
title_full Optimization Approach for the Development of Humanoid Robots' Behaviors
title_fullStr Optimization Approach for the Development of Humanoid Robots' Behaviors
title_full_unstemmed Optimization Approach for the Development of Humanoid Robots' Behaviors
title_sort Optimization Approach for the Development of Humanoid Robots' Behaviors
author Luís Paulo Reis
author_facet Luís Paulo Reis
Luís Cruz
Armando Sousa
Nuno Lau
author_role author
author2 Luís Cruz
Armando Sousa
Nuno Lau
author2_role author
author
author
dc.contributor.author.fl_str_mv Luís Paulo Reis
Luís Cruz
Armando Sousa
Nuno Lau
description Humanoid robots usually have a large number of degrees of freedom which turns humanoid control into a very complex problem. Humanoids are used in several RoboCup soccer leagues. In this work, the SimSpark simulator of the Simulation 3D will be used. This paper presents an automatic approach for developing humanoid behaviors based on the development of a generic optimization system. The paper describes the adopted architecture, main design choices and the results achieved with the optimization of a side kick and a forward kick. For both skills, the optimization approach allowed the creation of faster and more powerful and stable behaviors.
publishDate 2012
dc.date.none.fl_str_mv 2012-01-01T00:00:00Z
2012
2017-11-16T14:00:05Z
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dc.language.iso.fl_str_mv eng
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