Cooperative Transportation by Humanoid Robots - Solving Piano Movers' Problem

Authors:
Hitoshi Iba;Takahiro Tohge;Yutaka Inoue
Affiliations:
Graduate School of Frontier Sciences, University of Tokyo, Japan. {iba,tohge,inoue}@iba.k.u-tokyo.ac.jp;Graduate School of Frontier Sciences, University of Tokyo, Japan. {iba,tohge,inoue}@iba.k.u-tokyo.ac.jp;Graduate School of Frontier Sciences, University of Tokyo, Japan. {iba,tohge,inoue}@iba.k.u-tokyo.ac.jp
Venue:
International Journal of Hybrid Intelligent Systems
Year:
2004

Citing 2
Cited 2

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Path planning of mobile robot with neuro-genetic-fuzzy technique in static environment

International Journal of Hybrid Intelligent Systems

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Abstract

Recent developments in humanoid robots seem very promising for the sake of achieving higher-level tasks, such as those usually done by humans. Cooperative behavior allows multiple robots to tackle a task easily and effectively. In this paper, we try to solve a cooperative transportation task, i.e., a piano movers' problem, using two humanoid robots. We use Q-learning for the purpose of real-world adaptation. More precisely, the two robots gain environmental information through their respective monocular cameras, and learn to cooperatively navigate a narrow L-shaped aisle. We empirically show how the robustness of the acquired cooperative behavior for the test cases differed from the training L-shaped aisle.