loading
Papers

Research.Publish.Connect.

Paper

Paper Unlock

Author: Malachy Eaton

Affiliation: University of Limerick, Ireland

ISBN: 978-989-758-201-1

Keyword(s): Evolutionary Algorithms, Humanoid Robotics, Ball Kicking, Evolutionary Robotics, Evolutionary Humanoid Robotics, Whole-Body-Motion.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Computational Intelligence ; Evolutionary Computing ; Evolutionary Robotics and Intelligent Agents ; Genetic Algorithms ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Knowledge Discovery and Information Retrieval ; Knowledge-Based Systems ; Machine Learning ; Soft Computing ; Symbolic Systems

Abstract: We describe a novel approach to the evolution of whole-body behaviours in the Nao humanoid robot using a multi-simulator approach to the alleviation of the reality gap issue. The initial evolutionary process takes place in the V-REP simulator. Once a viable whole-body motion has been evolved, this evolved motion is subsequently transferred for testing onto another simulation platform – Webots. Only when the evolved kicking behaviour has been demonstrated to also be viable on the Webots platform is this behaviour then transferred onto the real Nao robot for testing. This eliminates the time-consuming process of transferring behaviours onto the real robot which have little chance of successfully crossing the reality gap, and also minimises the potential for damage to the real Nao robot and/or it’s environment. By using this novel approach of employing two different simulators, each with its own individual strengths and weaknesses, we reduce the likelihood that any individual behavio ur will be able to exploit individual simulators’ weaknesses, as the other simulator should pick up on this weak point. Using this procedure we have successfully evolved ball kicking behaviour in simulation, which has transferred with reasonable fidelity onto to the real Nao humanoid. (More)

PDF ImageFull Text

Download
CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 34.238.192.150

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Eaton, M. (2016). Bridging the Reality Gap — A Dual Simulator Approach to the Evolution of Whole-Body Motion for the Nao Humanoid Robot.In Proceedings of the 8th International Joint Conference on Computational Intelligence - Volume 3: ECTA, (IJCCI 2016) ISBN 978-989-758-201-1, pages 186-192. DOI: 10.5220/0006052301860192

@conference{ecta16,
author={Malachy Eaton.},
title={Bridging the Reality Gap — A Dual Simulator Approach to the Evolution of Whole-Body Motion for the Nao Humanoid Robot},
booktitle={Proceedings of the 8th International Joint Conference on Computational Intelligence - Volume 3: ECTA, (IJCCI 2016)},
year={2016},
pages={186-192},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006052301860192},
isbn={978-989-758-201-1},
}

TY - CONF

JO - Proceedings of the 8th International Joint Conference on Computational Intelligence - Volume 3: ECTA, (IJCCI 2016)
TI - Bridging the Reality Gap — A Dual Simulator Approach to the Evolution of Whole-Body Motion for the Nao Humanoid Robot
SN - 978-989-758-201-1
AU - Eaton, M.
PY - 2016
SP - 186
EP - 192
DO - 10.5220/0006052301860192

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.