Robot Archer iCub


Humanoid robot iCub learns the skill of archery. After being instructed how to hold the bow and release the arrow, the robot learns by itself to aim and shoot arrows at the target. It learns to hit the center of the target in only 8 trials. The learning algorithm, called ARCHER (Augmented Reward Chained Regression) algorithm, was developed and optimized specifically for problems like the archery training, which have a smooth solution space and prior knowledge about the goal to be achieved. In the case of archery, we know that hitting the center corresponds to the maximum reward we can get. Using this prior information about the task, we can view the position of the arrow’s tip as an augmented reward. ARCHER uses a chained local regression process that iteratively estimates new policy parameters which have a greater probability of leading to the achievement of the goal of the task, based on the experience so far. An advantage of ARCHER over other learning algorithms is that it makes use of richer feedback information about the result of a rollout. For the archery training, the ARCHER algorithm is used to modulate and coordinate the motion of the two hands, while an inverse kinematics controller is used for the motion of the arms. After every rollout, the image processing part recognizes automatically where the arrow hits the target which is then sent as feedback to the ARCHER algorithm. The image recognition is based on Gaussian Mixture Models for color-based detection of



Note: This is a user submitted video under “User Submitted” Category. Although the submitted content is moderated, RealityPod does not guarantee the accuracy of information provided in posts of this particular category.

Comments
  1. kizkoool Reply
  2. LeeStone101 Reply
  3. Robert15469 Reply
  4. someguyinmaine Reply
  5. someguyinmaine Reply
  6. fishontuesday Reply
  7. HughJassization Reply
  8. HughJassization Reply
  9. lifemurmansk Reply
  10. niroblock Reply
  11. Loyalty1958 Reply
  12. Loyalty1958 Reply
  13. trimsharkie Reply
  14. acekall Reply
  15. MiauwImaDog Reply
  16. charliezaa320 Reply
  17. Thatooneguy313887 Reply
  18. wtfman880 Reply
  19. AlexRaduGorcea Reply
  20. planmix Reply
  21. TheMychemmonster Reply
  22. deblasco Reply
  23. Arivyn Reply
  24. Jfoernzler Reply
  25. drnick2311 Reply

Leave a Reply

Your email address will not be published. Required fields are marked *