By Topic

Behavioral development of ball kicking motion of a two-wheeled inverted pendulum mobile robot

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Takahashi, Y. ; Dept. of Human & Artificial Intell. Syst., Univ. of Fukui, Fukui, Japan ; Nonoshita, H. ; Nakamura, T. ; Maeda, Y.

In this paper, we introduce a method for generating a dynamic motion such that a two-wheeled inverted pendulum robot kicks a ball far away utilizing its own body dynamics while it keeps standing. Such a dynamic motion can be acquired through trial and error based on a reinforcement learning scheme. We utilize a simple policy gradient method to acquire a kicking motion which is designed by defining the desired parameters such as body angle, wheel angular velocity and so on. To show the validity of our approach, we perform computer simulation experiments of behavior acquisition for the two-wheeled inverted pendulum robot. Based our approach, we succeeded in acquiring the kicking motion of the two-wheeled inverted pendulum robot. A very interesting finding is: each of the acquired motions deviates from the desired trajectory, which is given by the human designer while keeping evaluation value of the acquired motion high.

Published in:

Fuzzy Systems (FUZZ), 2010 IEEE International Conference on

Date of Conference:

18-23 July 2010