Start Date
13-5-2021 2:30 PM
End Date
13-5-2021 2:50 PM
Document Type
Full Paper
Keywords
Humanoid, framework, model, AI, Nao
Description
A framework based on a Probabilistic Model for the moving be- havior of the NAO humanoid robot in the environment given by 20in × 20in vinyl maze cells was proposed in a recent work of our group and here it is further expanded with additional support data and model refinements. We also contribute additional tests supporting evidence that it is possible to exploit a public NAO sensor database made recently available, to build a sample probabilistic model for walking and turning in a controlled vinyl maze. The probabilistic model is a new and powerful representation of related phenomena based on ran- dom variables and with conditional probability tables for the NAO sensors computed from experimental measurements given relevant environment states. The model allows for complex planners and reasoners, that are based on rich POMDP models, to be built on top of it.
DOI
https://doi.org/10.5038/VSSZ2078
Refinement of Probabilistic Models for the NAO Robot in a Labyrinth
A framework based on a Probabilistic Model for the moving be- havior of the NAO humanoid robot in the environment given by 20in × 20in vinyl maze cells was proposed in a recent work of our group and here it is further expanded with additional support data and model refinements. We also contribute additional tests supporting evidence that it is possible to exploit a public NAO sensor database made recently available, to build a sample probabilistic model for walking and turning in a controlled vinyl maze. The probabilistic model is a new and powerful representation of related phenomena based on ran- dom variables and with conditional probability tables for the NAO sensors computed from experimental measurements given relevant environment states. The model allows for complex planners and reasoners, that are based on rich POMDP models, to be built on top of it.