The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. ex. Some numerals are expressed as "XNUMX".
Copyrights notice
The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. Copyrights notice
Kertas kerja ini menerangkan persekitaran eksperimen interaktif untuk robot bola sepak autonomi, yang merupakan padang bola sepak yang ditambah dengan menggunakan input kamera dan output projektor. Persekitaran ini, dalam erti kata lain, memainkan peranan perantaraan antara persekitaran simulasi dan persekitaran sebenar. Kita boleh mensimulasikan beberapa bahagian persekitaran sebenar, cth, objek sebenar seperti robot atau bola, dan mencerminkan data simulasi ke dalam persekitaran sebenar, cth, untuk menggambarkan kedudukan di lapangan, supaya mewujudkan situasi yang membolehkan penyahpepijatan mudah program robot. Perkara penting berbanding dengan kerja analog ialah objek maya boleh disentuh dalam sistem ini kerana projektor. Kami juga menunjukkan versi mudah alih sistem kami yang tidak memerlukan kamera siling. Sebagai aplikasi dalam persekitaran yang ditambah, kami menangani pembelajaran strategi penjaga gol pada robot berkaki empat sebenar dalam sepakan penalti. Kami menjadikan robot kami menggunakan bola maya untuk melakukan pergerakan berkaki empat sahaja dalam persekitaran sebenar, yang agak sukar untuk disimulasikan dengan tepat. Robot kami secara autonomi belajar dan memperoleh strategi yang lebih berfaedah tanpa campur tangan manusia dalam persekitaran tambahan kami daripada yang berada dalam persekitaran simulasi sepenuhnya.
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Salinan
Hayato KOBAYASHI, Tsugutoyo OSAKI, Tetsuro OKUYAMA, Joshua GRAMM, Akira ISHINO, Ayumi SHINOHARA, "Development of an Interactive Augmented Environment and Its Application to Autonomous Learning for Quadruped Robots" in IEICE TRANSACTIONS on Information,
vol. E92-D, no. 9, pp. 1752-1761, September 2009, doi: 10.1587/transinf.E92.D.1752.
Abstract: This paper describes an interactive experimental environment for autonomous soccer robots, which is a soccer field augmented by utilizing camera input and projector output. This environment, in a sense, plays an intermediate role between simulated environments and real environments. We can simulate some parts of real environments, e.g., real objects such as robots or a ball, and reflect simulated data into the real environments, e.g., to visualize the positions on the field, so as to create a situation that allows easy debugging of robot programs. The significant point compared with analogous work is that virtual objects are touchable in this system owing to projectors. We also show the portable version of our system that does not require ceiling cameras. As an application in the augmented environment, we address the learning of goalie strategies on real quadruped robots in penalty kicks. We make our robots utilize virtual balls in order to perform only quadruped locomotion in real environments, which is quite difficult to simulate accurately. Our robots autonomously learn and acquire more beneficial strategies without human intervention in our augmented environment than those in a fully simulated environment.
URL: https://global.ieice.org/en_transactions/information/10.1587/transinf.E92.D.1752/_p
Salinan
@ARTICLE{e92-d_9_1752,
author={Hayato KOBAYASHI, Tsugutoyo OSAKI, Tetsuro OKUYAMA, Joshua GRAMM, Akira ISHINO, Ayumi SHINOHARA, },
journal={IEICE TRANSACTIONS on Information},
title={Development of an Interactive Augmented Environment and Its Application to Autonomous Learning for Quadruped Robots},
year={2009},
volume={E92-D},
number={9},
pages={1752-1761},
abstract={This paper describes an interactive experimental environment for autonomous soccer robots, which is a soccer field augmented by utilizing camera input and projector output. This environment, in a sense, plays an intermediate role between simulated environments and real environments. We can simulate some parts of real environments, e.g., real objects such as robots or a ball, and reflect simulated data into the real environments, e.g., to visualize the positions on the field, so as to create a situation that allows easy debugging of robot programs. The significant point compared with analogous work is that virtual objects are touchable in this system owing to projectors. We also show the portable version of our system that does not require ceiling cameras. As an application in the augmented environment, we address the learning of goalie strategies on real quadruped robots in penalty kicks. We make our robots utilize virtual balls in order to perform only quadruped locomotion in real environments, which is quite difficult to simulate accurately. Our robots autonomously learn and acquire more beneficial strategies without human intervention in our augmented environment than those in a fully simulated environment.},
keywords={},
doi={10.1587/transinf.E92.D.1752},
ISSN={1745-1361},
month={September},}
Salinan
TY - JOUR
TI - Development of an Interactive Augmented Environment and Its Application to Autonomous Learning for Quadruped Robots
T2 - IEICE TRANSACTIONS on Information
SP - 1752
EP - 1761
AU - Hayato KOBAYASHI
AU - Tsugutoyo OSAKI
AU - Tetsuro OKUYAMA
AU - Joshua GRAMM
AU - Akira ISHINO
AU - Ayumi SHINOHARA
PY - 2009
DO - 10.1587/transinf.E92.D.1752
JO - IEICE TRANSACTIONS on Information
SN - 1745-1361
VL - E92-D
IS - 9
JA - IEICE TRANSACTIONS on Information
Y1 - September 2009
AB - This paper describes an interactive experimental environment for autonomous soccer robots, which is a soccer field augmented by utilizing camera input and projector output. This environment, in a sense, plays an intermediate role between simulated environments and real environments. We can simulate some parts of real environments, e.g., real objects such as robots or a ball, and reflect simulated data into the real environments, e.g., to visualize the positions on the field, so as to create a situation that allows easy debugging of robot programs. The significant point compared with analogous work is that virtual objects are touchable in this system owing to projectors. We also show the portable version of our system that does not require ceiling cameras. As an application in the augmented environment, we address the learning of goalie strategies on real quadruped robots in penalty kicks. We make our robots utilize virtual balls in order to perform only quadruped locomotion in real environments, which is quite difficult to simulate accurately. Our robots autonomously learn and acquire more beneficial strategies without human intervention in our augmented environment than those in a fully simulated environment.
ER -