Motion capture and contemporary optimization algorithms for robust and stable motions on simulated biped robots

Andreas Seekircher, Justin Stoecker, Saminda Abeyruwan, Ubbo Visser

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

Biped soccer robots have shown drastic improvements in motion skills over the past few years. Still, a lot of work needs to be done with the RoboCup Federation's vision of 2050 in mind. One goal is creating a workflow for quickly generating reliable motions, preferably with inexpensive and accessible hardware. Our hypothesis is that using Microsoft's Kinect sensor in combination with a modern optimization algorithm can achieve this objective. We produced four complex and inherently unstable motions and then applied three contemporary optimization algorithms (CMA-ES, xNES, PSO) to make the motions robust; we performed 900 experiments with these motions on a 3D simulated Nao robot with full physics. In this paper we describe the motion mapping technique, compare the optimization algorithms, and discuss various basis functions and their impact on the learning performance. Our conclusion is that there is a straightforward process to achieve complex and stable motions in a short period of time.

Original languageEnglish (US)
Title of host publicationRoboCup 2012
Subtitle of host publicationRobot Soccer World Cup XVI
Pages213-224
Number of pages12
DOIs
StatePublished - Sep 9 2013
Event16th International Symposium on Robot Soccer World Cup, RoboCup 2012 - Mexico City, Mexico
Duration: Jun 18 2012Jun 24 2012

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume7500 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other16th International Symposium on Robot Soccer World Cup, RoboCup 2012
CountryMexico
CityMexico City
Period6/18/126/24/12

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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    Seekircher, A., Stoecker, J., Abeyruwan, S., & Visser, U. (2013). Motion capture and contemporary optimization algorithms for robust and stable motions on simulated biped robots. In RoboCup 2012: Robot Soccer World Cup XVI (pp. 213-224). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 7500 LNAI). https://doi.org/10.1007/978-3-642-39250-4_20