Abstract
This paper presents the modifications needed to adapt a humanoid agent architecture and behaviors from simulation to a real robot. The experiments were conducted using the Aldebaran Nao robot model. The agent architecture was adapted from the RoboCup 3D Simulation League to the Standard Platform League with as few changes as possible. The reasons for the modifications include small differences in the dimensions and dynamics of the simulated and the real robot and the fact that the simulator does not create an exact copy of a real environment. In addition, the real robot API is different from the simulated robot API and there are a few more restrictions on the allowed joint configurations. The general approach for using behaviors developed for simulation in the real robot was to: first, (if necessary) make the simulated behavior compliant with the real robot restrictions, second, apply the simulated behavior to the real robot reducing its velocity, and finally, increase the velocity, while adapting the behavior parameters, until the behavior gets unstable or inefficient. This paper also presents an algorithm to calculate the three angles of the hip that produce the desired vertical hip rotation, since the Nao robot does not have a vertical hip joint. All simulation behaviors described in this paper were successfully adapted to the real robot.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Behnke, S.: Online trajectory generation for omnidirectional biped walking. In: Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, Florida, USA, pp. 1597–1603 (May 2006)
Boedecker, J., Asada, M.: Simspark concepts and application in the Robocup 3D Soccer Simulation League. In: Proceedings of SIMPAR-2008 Workshop on The Universe of RoboCup simulators, Venice, Italy, pp. 174–181 (November 2008)
Conceição, A., Moreira, A., Costa, P.: Design of a mobile robot for Robocup Middle Size League. In: 6th Latin American Robotics Symposium (LARS 2009), Chile, pp. 1–6 (October 2009)
Gouaillier, D., Hugel, V., Blazevic, P., Kilner, C., Monceaux, J., Lafourcade, P., Marnier, B., Serre, J., Maisonnier, B.: The NAO humanoid: a combination of performance and affordability, ArXiv e-prints (July 2008)
Gouaillier, D., Hugel, V., Blazevic, P., Kilner, C., Monceaux, J., Lafourcade, P., Marnier, B., Serre, J., Maisonnier, B.: Mechatronic design of NAO humanoid. In: IEEE International Conference on Robotics and Automation, ICRA 2009, Kobe, Japan, pp. 769–774 (May 2009)
Graf, C., Härtl, A., Röfer, T., Laue, T.: A robust closed-loop gait for the Standard Platform League humanoid. In: Zhou, C., Pagello, E., Menegatti, E., Behnke, S., Röfer, T. (eds.) Proceedings of the Fourth Workshop on Humanoid Soccer Robots in Conjunction with the 2009 IEEE-RAS International Conference on Humanoid Robots, Paris, France, December 2009, pp. 30–37 (May 2009)
Kulk, J.A., Welsh, J.S.: A low power walk for the NAO robot. In: Australasian Conference on Robotics and Automation, ACRA (December 2008)
Lau, N., Reis, L.P.: FC Portugal - high-level coordination methodologies in soccer robotics. In: Lima, P. (ed.) Robotic Soccer, pp. 167–192. InTech (December 2007)
Liemhetcharat, S., Coltin, B., Meriçli, Ç., Tay, J., Veloso, M.: Cmurfs: Carnegie mellon united robots for soccer (2010)
Neves, A.J.R., Azevedo, J.L., Cunha, B., Lau, N., Silva, J., Santos, F., Corrente, G., Martins, D.A., Figueiredo, N., Pereira, A., Almeida, L., Lopes, L.S., Pinho, A.J., Rodrigues, J., Pedreiras, P.: CAMBADA soccer team: from robot architecture to multiagent coordination. In: Papić, V. (ed.) Robot Soccer, pp. 19–45. InTech (January 2010)
Picado, H., Gestal, M., Lau, N., Reis, L.P., Tomé, A.M.: Automatic Generation of Biped Walk Behavior Using Genetic Algorithms. In: Cabestany, J., Sandoval, F., Prieto, A., Corchado, J.M. (eds.) IWANN 2009. LNCS, vol. 5517, pp. 805–812. Springer, Heidelberg (2009)
Ratter, A., Hengst, B., Hall, B., White, B., Vance, B., Sammut, C., Claridge, D., Nguyen, H., Ashar, J., Pagnucco, M., Robinson, S., Zhu, Y.: rUNSWift team report 2010 Robocup Standard Platform League (October 2010)
Reis, L.P., Lau, N.: FC Portugal Team Description: RoboCup 2000 Simulation League Champion. In: Stone, P., Balch, T., Kraetzschmar, G.K. (eds.) RoboCup 2000. LNCS (LNAI), vol. 2019, pp. 29–40. Springer, Heidelberg (2001)
Röfer, T., Laue, T., Müller, J., Burchardt, A., Damrose, E., Fabisch, A., Feldpausch, F., Gillmann, K., Graf, C., de Haas, T.J., Härtl, A., Honsel, D., Kastner, P., Kastner, T., Markowsky, B., Mester, M., Peter, J., Riemann, O.J.L., Ring, M., Sauerland, W., Schreck, A., Sieverdingbeck, I., Wenk, F., Worch, J.H.: B-Human team report and code release (October 2010), http://www.b-human.de/file_download/33/bhuman10_coderelease.pdf
Shafii, N., Reis, L.P., Lau, N.: Biped Walking Using Coronal and Sagittal Movements Based on Truncated Fourier Series. In: Ruiz-del Solar, J., Chown, E., Plöger, P. (eds.) RoboCup 2010. LNCS, vol. 6556, pp. 324–335. Springer, Heidelberg (2010)
Smith, R.: Open dynamics engine (July 2008), http://www.ode.org
Tay, A.J.S.B.: Walking Nao Omnidirectional Bipedal Locomotion (August 2009)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Domingues, E., Lau, N., Pimentel, B., Shafii, N., Reis, L.P., Neves, A.J.R. (2011). Humanoid Behaviors: From Simulation to a Real Robot. In: Antunes, L., Pinto, H.S. (eds) Progress in Artificial Intelligence. EPIA 2011. Lecture Notes in Computer Science(), vol 7026. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-24769-9_26
Download citation
DOI: https://doi.org/10.1007/978-3-642-24769-9_26
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-24768-2
Online ISBN: 978-3-642-24769-9
eBook Packages: Computer ScienceComputer Science (R0)