Cooperative Transportation by Humanoid Robots: Learning to Correct Positioning

In this paper, we describe a cooperative transportation problem with two humanoid robots and introduce a machine learning approach to solving the problem. The difficulty of the task lies on the fact that each position shifts with the other’s while they are moving. Therefore, it is necessary to correct the position in a realtime manner. However, it is difficult to generate such an action in consideration of the physical formula. We empirically show how successful the humanoid robot HOAP-1’s cooperate with each other for the sake of the transportation as a result of Q-learning.

• Type: Conference
• Year: 2003
• Where: HIS
• Authors: Yutaka Inoue, Takahiro Tohge, Hitoshi Iba
• Keywords: Cooperative Transportation Problem, HIS 2003, HIS 2007, Humanoid Robot, Machine Learning Approach