Embodied AI in Humanoids

摘要

Abstract In contrast to the top-down approach of equipping a humanoid with as many sensors, motors, power, etc. as possible, we developed a bottom-up approach to the construction of humanoids – an approach that attempts to minimize the robot complexity. The approach is shown with the development of the Viki humanoid that won the RoboCup Humanoids Free Style World Championship 2002. For the development of the bottom-up approach we find inspiration from recent work in embodied artificial intelligence that puts emphasis on the correspondence and interrelatedness between material, electronic hardware, energy use, and control. By finding the right balance and relationship between these components of the system, it becomes possible to develop biped walking and other humanoid behaviors with much simpler hardware and control than is traditionally envisioned for humanoids. Indeed, the Viki humanoid robots were able to win the world championship though they include much less sensors, motors and energy use than their competitors.