Robot Archer iCub

Humanoid robot iCub learns the skill of archery.

After being instructed how to hold the bow and release the arrow, the robot learns by itself to aim and shoot arrows at the target. It learns to hit the center of the target in only 8 trials.

The learning algorithm, called ARCHER (Augmented Reward Chained Regression) algorithm, was developed and optimized specifically for problems like the archery training, which have a smooth solution space and prior knowledge about the goal to be achieved. In the case of archery, we know that hitting the center corresponds to the maximum reward we can get. Using this prior information about the task, we can view the position of the arrow’s tip as an augmented reward. ARCHER uses a chained local regression process that iteratively estimates new policy parameters which have a greater probability of leading to the achievement of the goal of the task, based on the experience so far. An advantage of ARCHER over other learning algorithms is that it makes use of richer feedback information about the result of a rollout.

For the archery training, the ARCHER algorithm is used to modulate and coordinate the motion of the two hands, while an inverse kinematics controller is used for the motion of the arms. After every rollout, the image processing part recognizes automatically where the arrow hits the target which is then sent as feedback to the ARCHER algorithm. The image recognition is based on Gaussian Mixture Models for color-based detection of the target and the arrow’s tip.

The experiments are performed on a 53-DOF humanoid robot iCub. The distance between the robot and the target is 3.5m, and the height of the robot is 104cm.
This research will be presented at the Humanoids 2010 conference in December 2010 in USA.

Video credits:
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Dr. Petar Kormushev
http://kormushev.com

Dr. Sylvain Calinon
http://programming-by-demonstration.org

Dr. Ryo Saegusa

Affiliation:
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Advanced Robotics, IIT
Robotics, Brain and Cognitive Sciences, IIT
Italian Institute of Technology (IIT)

Photos of Robot Archer iCub:
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http://www.flickr.com/photos/petar_kormushev/sets/

Other videos:
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Robot learns to flip pancakes
http://kormushev.com/research/videos/

Link to publication:
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P. Kormushev, S. Calinon, R. Saegusa, G. Metta,
Learning the skill of archery by a humanoid robot iCub,
http://kormushev.com/papers/Kormushev_Humanoids-2010.pdf

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Duration : 0:2:8


[youtube QCXvAqIDpIw]

25 thoughts on “Robot Archer iCub

  1. @chetopuffs, …
    @chetopuffs, every Shoshoni person on earth. Do it now or you may never get the chance after Skynet.

  2. @Hemorrhag3 nope, …
    @Hemorrhag3 nope, the whole human race will become extinct. we need women to make babies, u bellend

  3. @DigitizedSelf no …
    @DigitizedSelf no thats stupid only a stupid person would say that, your stupid..
    they help with wind resistance duhhhhhhhhhhh
    lmao

  4. honestly i think if …
    honestly i think if they gave this thing a gun and showed it how to hold it and made it shoot the target at 40 meters distance after eventual 20 tries it would hit spot on

  5. First it was like ” …
    First it was like “Awww how cute”

    And 10 years later it was like “RUN AND DON4T LOOK BACK”

    And than it ended with “……….”

  6. How important are …
    How important are the feathers for its ability to aim? Do they work as stabilizers?

  7. @TheSaintsfan19

    @TheSaintsfan19
    That “Indian hat” is a mockery of a ceremonial head dress. Something that is important to my people, The Shoshoni, Indians are from India. Us Shoshoni are from North America. You need to get your straight.
    This is like building a robot that can find the best place to stand as it blows itself up to kill the maximum amount of people and dressing it an abaya.
    If this was done in America I would of already called the ACLU!

  8. il just grab my ak …
    il just grab my ak 47 tha ti dont have yet and shoot on my school befor they make more of those robots

  9. All you need to …
    All you need to destroy an evil race of robots trying to take over the world is an EMP shockwave. Bye bye robots.

  10. amazing work, but …
    amazing work, but retarded idea. Huh, I wonder how the this is going to turn out. I guess its inevitable.

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