Abstract-We present an integrated approach allowing the humanoid robot iCub to learn the skill of archery. After being instructed how to hold the bow and release the arrow, the robot learns by itself to shoot the arrow in such a way that it hits the center of the target. Two learning algorithms are proposed and compared to learn the bi-manual skill: one with ExpectationMaximization based Reinforcement Learning, and one with chained vector regression called the ARCHER algorithm. Both algorithms are used to modulate and coordinate the motion of the two hands, while an inverse kinematics controller is used for the motion of the arms. The image processing part recognizes where the arrow hits the target and is based on Gaussian Mixture Models for color-based detection of the target and the arrow's tip. The approach is evaluated on a 53-DOF humanoid robot iCub.
Another interesting work is REF , which presents an integrated approach to teach the skill of archery to a humanoid.
Learning the skill of archery by a humanoid robot iCub
2010 10th IEEE-RAS International Conference on Humanoid Robots
2010 10th IEEE-RAS International Conference on Humanoid Robots
Computer Science