Paper Title
Vison-Based Weightlifting Task by Autonomous Humanoid Robot with Reinforcement Learning System

This paper presents a weightlifting task by anautonomous humanoid robot, DARwIn-OP 3, equipped with a vision and dynamic balance system. The robot used the vision system to pick up the lifting bar and keep itself in line. The robot adjusted its posture tilt angle according to different weights by reinforcement learning to stay dynamically balanced. The experimental results show that the robot can successfully complete the weightlifting task. Keywords - Weightlifting, Humanoid robot, Vision system, Reinforcement Learning, Dynamic Balance