Development of an augmented environment and autonomous learning for quadruped robots

Hayato Kobayashi, Tsugutoyo Osaki, Tetsuro Okuyama, Akira Ishino, Ayumi Shinohara

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


This paper describes an interactive experimental environment for autonomous soccer robots, which is a soccer field augmented by utilizing camera input and projector output. This environment, in a sense, plays an intermediate role between simulated environments and real environments. We can simulate some parts of real environments, e.g., real objects such as robots or a ball, and reflect simulated data into the real environments, e.g., to visualize the positions on the field, so as to create a situation that allows easy debugging of robot programs. As an application in the augmented environment, we address the learning of goalie strategies on real quadruped robots in penalty kicks. Our robots learn and acquire sophisticated strategies in a fully simulated environment, and then they autonomously adapt to real environments in the augmented environment.

Original languageEnglish
Title of host publicationRoboCup 2008
Subtitle of host publicationRobot Soccer World Cup XII
Number of pages12
Publication statusPublished - 2009
Event12th annual RoboCup International Symposium, RoboCup 2008 - Suzhou, China
Duration: 2008 Jul 152008 Jul 18

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume5399 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference12th annual RoboCup International Symposium, RoboCup 2008


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