Learning the skill of archery by a humanoid robot iCub
File(s)
Accepted version
Author(s)
Kormushev, Petar
Calinon, S
Saegusa, R
Metta, G
Type
Conference Paper
Abstract
We present an integrated approach allowing the humanoid robot iCub to learn the skill of archery. After being instructed how to hold the bow and release the arrow, the robot learns by itself to shoot the arrow in such a way that it hits the center of the target. Two learning algorithms are proposed and compared to learn the bi-manual skill: one with Expectation-Maximization based Reinforcement Learning, and one with chained vector regression called the ARCHER algorithm. Both algorithms are used to modulate and coordinate the motion of the two hands, while an inverse kinematics controller is used for the motion of the arms. The image processing part recognizes where the arrow hits the target and is based on Gaussian Mixture Models for color-based detection of the target and the arrows tip. The approach is evaluated on a 53-DOF humanoid robot iCub. ©2010 IEEE.
Date Issued
2010-12
Date Acceptance
2010-12-06
Citation
Proc. IEEE Intl Conf. on Humanoid Robots (Humanoids), 2010, pp.417-423
ISBN
978-1-4244-8688-5
Publisher
IEEE
Start Page
417
End Page
423
Journal / Book Title
Proc. IEEE Intl Conf. on Humanoid Robots (Humanoids)
Copyright Statement
© 2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Identifier
http://kormushev.com/papers/Kormushev_Humanoids-2010.pdf
Source
2010 10th IEEE-RAS International Conference on Humanoid Robots (Humanoids)
Publication Status
Published
Start Date
2010-12-06
Finish Date
2010-12-08
Coverage Spatial
Nashville, TN