1 Introduction
2 Physical capabilities (hardware)
2.1 Moving
2.1.1 Tracked vehicle with additional linkages
2.1.2 Omnidirectional mecanum wheels
2.2 Manipulating and grasping
2.3 Sensing
2.3.1 Elevated sensors
2.3.2 Touch sensors
2.3.3 Base sensors
2.4 Interfacing and interacting
3 Intelligence (software)
-
Interfacing: communicating with the sensors and actuators hardware.
-
Perception: human and object detection algorithms, mapping.
-
Knowledge-base: gather information about the robot, the environment, objects.
-
Planning: path and task planning components.
-
Control: actuate the system in order to follow the planned movement as accurately as possible.
3.1 Understanding humans and the environment
3.2 Moving smartly (path and motion planning)
3.3 Do the right thing (control)
4 RoboCup challenges
League | Date | Drive method |
---|---|---|
Soccer Simulation | 1996 | depending on league |
Soccer Small-Size | 1996 | omni directional |
Soccer Middle-Size | 1996 | omni directional |
Soccer Humanoid KidSize | 2005 | 2 legs, human gait |
Soccer Humanoid TeenSize | 2007 | 2 legs, human gait |
Soccer Humanoid AdultSize | 2007 | 2 legs, human gait |
Soccer Standard Platform | 2004 | 2 legs, human gait |
RoboCup Rescue | 2000 | differential drive |
RoboCup Rescue Simulation | 2000 | depending on league |
RoboCup@Home | 2006 | omni directional |
RoboCup Logistics | 2006 | omni directional |
RoboCup@Work | 2007 | omni directional |
RoboCup junior | 2000 | depending on league |
4.1 RoboCup rescue
-
Video Image Resolution: Visual identification the third biggest concentric C gap by the competition judge.
-
Motion Detection: Highlight the moving target (1-4) automatically by any usage of any camera and integrated video processing. Additionally track the identified motions on the operator station textually or audibly.
-
Thermal Image Resolution: Visual identification of the concentric Landolt C with a 2 cm gap to evaluate thermal resolution by the competition judge.
-
Audio Acuity: Two way communication from mobile manipulator to operator station. Tested by judge and team members.
-
Color/Pattern Recognition: Automatically identification of two hazards labels out of 12 possibilities. Highlight and track the identified labels on the operator station textually or audibly.
-
Gas: Operator demonstrates active display of increase in \(\mathrm{CO}_{2}\) concentration when a team-mate breaths into the robot’s sensor or a \(\mathrm{CO}_{2}\) cartridge is opened near the sensor.
-
Touch: Touch a 1 cm diameter circular target on the end of a pipe with a pencil attached to the manipulator end effector.
-
Rotate: Grab a 5 cm octagonal pipe cap and rotate \(180^{\circ}\) with the end effector.
-
Extract: Grab a 5 cm octagonal pipe cap and pull out of the pipe after holding it 1 s it can be dropped to the floor.
-
Inspect: Visual identification the number of bars placed on the internal walls of a 5 cm pipe by the competition judge.
4.2 RoboCup@Work
-
Basic navigation: The mobile manipulator will be send a string contains a series of triples, each of which specifies a location, an orientation and a pause duration. The challenge is to navigate autonomous robust and safe in the scenario environment. Additional to specific service areas, arena objects, wall markers and floor markers random obstacles my be placed in the environment.
-
Basic manipulation: The mobile manipulator will be send some task specifications consist of the objects source location, the objects destination location, a list of objects to manipulated from source to the destination area and the final place for the robot. As objects different obstacles like aluminum profiles of different size and color, screws, nuts and plastic tubes can be used. An object does not count as placed when it dropped from a height above 5 cm. The pose of the object at the destination location can be chosen freely by the robot.
-
Basic transportation: Here the ability of the robots to combine navigation and manipulation tasks as well as its task planning capabilities are tested. The task is to pic objects from the source location to the destination location. Two lists will be send to the robot. The first list contains a list of manipulation object descriptions, the second list contains for each destination area a configuration of manipulation objects the robot is supposed to achieve. A robot may carry up to three objects at the same time and it is not allowed to place objects anywhere except on the robot itself and the correct destination areas.