Cooperative transportation system for humanoid robots using simulation-based learning

In this paper, an approach to the behavior acquisition required for humanoid robots to carry out a cooperative transportation task is proposed. In the case of object transportation involving two humanoid robots, mutual position shifts may occur due to the body swinging of the robots. Therefore, it is necessary to correct the position in real-time. Developing the position shift correction system requires a great deal of effort. Solution to the problem of learning the required behaviors is obtained by using the Classifier System and Q-Learning. The successful cooperation of two HOAP-1 humanoid robots in the transportation task has been confirmed by several experimental results.

[1]  Kazuhiro Kosuge,et al.  Decentralized control of multiple manipulators handling an object in coordination based on impedance control of each arm , 1997, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97.

[2]  Hirochika Inoue,et al.  HRP: Humanoid Robotics Project of MITI , 2000 .

[3]  Jun Ota,et al.  Cooperative transport system with regrasping car-like mobile robots , 1997, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97.

[4]  Hisashi Osumi,et al.  Cooperative Control for Three Mobile Robots Transporting a Large Object , 2001 .

[5]  Yuan F. Zheng,et al.  Arm-manipulator coordination for load sharing using variable compliance control , 1997, Proceedings of International Conference on Robotics and Automation.

[6]  Hitoshi Iba,et al.  Cooperative Transportation by Humanoid Robots: Learning to Correct Positioning , 2003, HIS.

[7]  Peter Dayan,et al.  Technical Note: Q-Learning , 2004, Machine Learning.

[8]  Jun Ota,et al.  Transferring Control by Cooperation of Two Mobile Robots , 1996 .

[9]  Peter Dayan,et al.  Q-learning , 1992, Machine Learning.

[10]  Andrew G. Barto,et al.  Reinforcement learning , 1998 .

[11]  Richard S. Sutton,et al.  Dimensions of Reinforcement Learning , 1998 .

[12]  D.E. Goldberg,et al.  Classifier Systems and Genetic Algorithms , 1989, Artif. Intell..

[13]  Jaime G. Carbonell,et al.  Machine learning: paradigms and methods , 1990 .

[14]  H. Inoue,et al.  Humanoid Robotics Project of MITI , 2000 .

[15]  Ryojun Ikeura,et al.  Investigating the impedance characteristic of human arm for development of robots to co-operate with human operators , 1999, IEEE SMC'99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.99CH37028).