_agent.tex

来自「2007年机器人足球世界杯3D仿真组亚军于07年底的源程序。该队还于2008年获」· TEX 代码 · 共 17 行

Our humanoid agent is designed to be used under our newly designed architecture for higher behaviors. The agent has different primitive behaviors which communicate with the server. On top of those primitive behaviors we added some middle order behaviors to move the agent. 

The behavior structure can be changed in a configuration in an XML-file. You can give each joint an endposition (in degrees) to be reached by the agent. If the agent has reached all the given positions within a certain range, the agent will skip to the next line with endpositions. Therefore, the agent can move and a middle order behavior (like kicking) can be achieved.

Currently we have a couple of middle order behaviors:

\begin{itemize}
\item \textbf{walking} creates inbalance to drop forward, swings both legs and stands still again.
\item \textbf{kicking} balances on one foot and kicks with the other.
\item \textbf{standing up} drops itself to the ground and does some athletic stuff to gets on its feet again.
\item \textbf{turning} balances on one foot and turns around.
\item \textbf{crawling} makes the agent crawl in a fast way by just using the feet.
\end{itemize}

All the middle order behaviors have been set by hand. We are planning to use a genetic algorithm to get the best fitts of the parameters. We plan to use a crawling behavior (if permitted) for standard movement, since it's much more stable and faster than walking.