3D Humanoid Robot Multi-gait Switching and Optimization

Lu, Yulei; Liang, Zhiwei; He, Hao; Xu, Chengxi; Yang, Ben; Fang, Fang

doi:10.1109/ccdc.2019.8832817

Cited by 3 publications

(3 citation statements)

References 3 publications

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“…Abdolmaleki et al [59,60] proposed a Contextual Relative Entropy Policy Search with Covariance Matrix Adaptation (CREPS-CMA) algorithm for learning distance-controllable kicking skills, which outputs parameters selected through keyframe selection based on the expected kicking distance. Lu et al [61] used PCA to reduce the number of parameters before applying the CMA-ES algorithm to optimize the reduced parameters, while Jouandeau et al [62] used the CLOP algorithm to improve the training speed of the CMA-ES optimization. Uchitane et al [63,64] proposed a mask-CMA-ES algorithm that ignores unimportant parameters to speed up the optimization process and ensure optimization effectiveness.…”

Section: Optimization Methods For Generating Skills Based On Modelsmentioning

confidence: 99%

A survey of research on several problems in the RoboCup3D simulation environment

Gao,

Yi,

Jin

et al. 2024

Auton Agent Multi-Agent Syst

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In the process of robot research and development, due to the vulnerability of hardware, simulation environment is often used to verify and test algorithms first. RoboCup3D simulation environment is developed based on open dynamic engine, and the humanoid robot NAO is modeled as the main robot, which provides a simulation platform for humanoid robot researchers to study robot movements. At the same time, it is also the official platform of RoboCup 3D events. Under the rules of soccer robot competition, it is helpful for the research of multi-robots, especially multi-humanoid robots' cooperation strategy. This paper summarizes the related research in RoboCup3D simulation environment, and first introduces the basic problems existing in this simulation environment. Secondly, the research of robot motion generation and optimization based on model and nonmodel in simulation environment is introduced respectively. Then, it introduces the related research of cooperation strategy design of multi-humanoid robots under RoboCup3D rules, including positioning, dynamic role assignment, etc. And sort out a typical practical solution to the above problems; Finally, the future development trend of related research in RoboCup3D simulation environment is analyzed.

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Section: Optimization Methods For Generating Skills Based On Modelsmentioning

confidence: 99%

A survey of research on several problems in the RoboCup3D simulation environment

Gao,

Yi,

Jin

et al. 2024

Auton Agent Multi-Agent Syst

View full text Add to dashboard Cite

show abstract

“…There are two game modes for the IRIS robot either attacking mode or defending mode. When one of the team's robots gets the ball, the team changes the game mode to attacking, using equation (5). If the defender robot is holding the ball, the defender robot will feed the ball to the attacker robot.…”

Section: Advance Attack Strategymentioning

confidence: 99%

“…The developments focus on developing the robot motions and internal movements such as balance and robot dynamics, starting from kid size, teen size, and adult size. Movement optimization has been proposed in [5] to get the best moves in humanoid robot soccer games.…”

Section: Introductionmentioning

confidence: 99%

Advance Attack and Defense Strategy Algorithm With Dynamic Role Assignment for Wheeled Soccer Robot

Dikairono

Setiawardhana

Budiman

et al. 2021

kursor

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Game strategy is one of the most critical parts of winning a soccer robot match and cannot be separated from the cooperation among robots in making movements to score goals. In this paper, a wheeled soccer robot game strategy called advance attack and defense has been developed. The strategy is combined with dynamic role assignment, in which robot can change from an attacker to a defender and vice versa. Defender robots are not only based on defensive area but will always block opposing attacker to score goal. The attack strategy performs a rotational trajectory for attacker robot to overpass opponent robot. This strategy has been proven to increase defense and attack effectiveness. Test results using soccer robot gameplay environment simulator developed by Institut Teknologi Sepuluh Nopember Robot with Intelligent System (IRIS) team show that the advance strategies are superior compared with basic strategies. In 30 matches, the advance dynamic strategy won 80%, drew 6.7%, and obtained the highest goal difference, 85 goals. The test was then verified with the implementation in the IRIS robots and showed the same performance. The developed game algorithms were tested in 2019 Indonesian wheeled soccer robot contest (KRSBI-B) and the IRIS team won the title.

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A survey of research on several problems in the RoboCup3D simulation environment

Gao

Jin

et al. 2023

Preprint

View full text Add to dashboard Cite

In the process of robot research and development, due to the vulnerability of hardware, simulation environment is often used to verify and test algorithms first. RoboCup3D simulation environment is developed based on open dynamic engine, and the humanoid robot NAO is modeled as the main robot, which provides a simulation platform for humanoid robot researchers to study robot movements. At the same time, it is also the official platform of RoboCup 3D events. Under the rules of soccer robot competition, it is helpful for the research of multi-robots, especially multi-humanoid robots' cooperation strategy. This paper summarizes the related research in RoboCup3D simulation environment, and first introduces the basic problems existing in this simulation environment. Secondly, the research of robot motion generation and optimization based on model and non-model in simulation environment is introduced respectively. Then, it introduces the related research of cooperation strategy design of multi-humanoid robots under RoboCup3D rules, including positioning, dynamic role assignment, etc. And sort out a typical practical solution to the above problems; Finally, the future development trend of related research in RoboCup3D simulation environment is analyzed.

show abstract

3D Humanoid Robot Multi-gait Switching and Optimization

Cited by 3 publications

References 3 publications

A survey of research on several problems in the RoboCup3D simulation environment

A survey of research on several problems in the RoboCup3D simulation environment

Advance Attack and Defense Strategy Algorithm With Dynamic Role Assignment for Wheeled Soccer Robot

A survey of research on several problems in the RoboCup3D simulation environment

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