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In this paper we discuss the applicability, potential benefits, open problems and expected contributionsthat an emerging set of self-modeling techniques might bring on the development of humanoid soccerrobots. The idea is that robots might continuously generate, validate and adjust physical models oftheir sensorimotor interaction with the world. These models are exploited for adapting behavior insimulation, enhancing the learning skills of a robot with the regular transference of controllers developedin simulation to reality. Moreover, these simulations can be used to aid the execution of complexsensorimotor tasks, speed up adaptation and enhance task planning. We present experiments onthe generation of behaviors for humanoid soccer robots using the Back-to-Reality algorithm. Generalmotivations are presented, alternative algorithms are discussed and, most importantly, directions ofresearch are proposed.Nota general

Artículo de publicación ISI

Author: Zagal Montealegre, Juan Cristóbal; - Delpiano, José; - Ruiz del Solar, Javier; -



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