Abstract-Robot learning is a growing area of research at the intersection of robotics and machine learning. The main contributions of this article include a review of how machine learning has been used on Sony AIBO robots and at RoboCup with a focus on the four-legged league during the years 1998-2004. The review shows that the application oriented use of machine learning in the four-legged league was still conservative and restricted to a few well-known and easy to use methods such as standard decision trees, evolutionary hill climbing, and support vector machines. Method oriented spin-off studies emerged more frequently and increasingly addressed new and advanced machine learning techniques. Further the article presents some details about the growing impact of machine learning in the software system developed by authors' robot soccer team-the NUbots.
With the introduction of commercially available programmable legged robots, a generic software method for detection of abnormalities in the robots' locomotion is required. Our approach is to gain satisfactory results using a bare minimum amount of hardware feedback; In most cases we are able to detect faults using only the joint angle sensors. Methods for recognising several types of collision as well as a loss of traction are examined. We are particularly interested in applying such techniques to Sony AIBO robots in the RoboCup legged league environment. This investigation provided us with a technique that enabled us to detect collisions with reliable accuracy using limited training time.
The aim of this work is to contribute some insights and a partial overview of how machine learning methods are used in robotics. We first discuss typical general issues in the relationship between robotics and machine learning. Then we focus on projects associated with the RoboCup competition and symposium, and review the extent to which machine learning approaches have been used in the 4-legged league at RoboCup during the years 1998-2003. Further, we summarise the machine learning methods that were used by our own RoboCup team-the NUbots-in 2002NUbots-in /2003
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