Self-modeling in humanoid soccer robots

Juan Cristóbal Zagal, José Delpiano, Javier Ruiz-del-Solar

Research output: Contribution to journalArticlepeer-review

9 Scopus citations


In this paper we discuss the applicability, potential benefits, open problems and expected contributions that an emerging set of self-modeling techniques might bring on the development of humanoid soccer robots. The idea is that robots might continuously generate, validate and adjust physical models of their sensorimotor interaction with the world. These models are exploited for adapting behavior in simulation, enhancing the learning skills of a robot with the regular transference of controllers developed in simulation to reality. Moreover, these simulations can be used to aid the execution of complex sensorimotor tasks, speed up adaptation and enhance task planning. We present experiments on the generation of behaviors for humanoid soccer robots using the Back-to-Reality algorithm. General motivations are presented, alternative algorithms are discussed and, most importantly, directions of research are proposed.
Original languageAmerican English
Pages (from-to)819-827
Number of pages9
JournalRobotics and Autonomous Systems
Issue number8
StatePublished - 31 Jul 2009
Externally publishedYes


  • Emergence of behavior
  • Humanoid soccer robots
  • Self-modeling
  • Sensorimotor adaptation

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