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On Recognizing Transparent Objects in Domestic Environments Using Fusion of Multiple Sensor Modalities Read chapter Read first chapter

2017 | OriginalPaper | Chapter

Rhoban Football Club: RoboCup Humanoid Kid-Size 2016 Champion Team Paper

Authors : Julien Allali, Louis Deguillaume, Rémi Fabre, Loic Gondry, Ludovic Hofer, Olivier Ly, Steve N’Guyen, Grégoire Passault, Antoine Pirrone, Quentin Rouxel

Published in: RoboCup 2016: Robot World Cup XX

Publisher: Springer International Publishing

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Abstract

For its fifth participation to the RoboCup Kid-Size Humanoid League, the Rhoban Football Club reached the first place of the competition in 2016 in Leipzig. This competition aims at opposing teams of small autonomous humanoid robots in real soccer games. Implementation of complex mechanics, electronics and software systems is needed. In this paper, we summarize and describe some distinctive parts of our architecture. Going from our foot pressure sensors, our open-source alternative Dynamixel firmware, the use of kinematics models, the odometry and camera calibration to our perception system as well as simple but effective team play strategies.

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previous chapter RoboCup 2016 Humanoid TeenSize Winner NimbRo: Robust Visual Perception and Soccer Behaviors
next chapter B-Human 2016 – Robust Approaches for Perception and State Estimation Under More Natural Conditions
Footnotes
2
This behavior can be seen in action in the video: https://​youtu.​be/​avJI_​cBuMm0.
 
4
RhAL Rhoban low-level library: https://​github.​com/​Rhoban/​RhAL.
 
5
C++ Rigid Body Dynamics Library: http://​rbdl.​bitbucket.​org/​.
 
6
XML Unified Robot Description Format: http://​wiki.​ros.​org/​urdf.
 
7
Open-Source Razor IMU AHRS filtering: https://​github.​com/​ptrbrtz/​razor-9dof-ahrs.
 
Literature
1.
USB 3.0* radio frequency interference impact on 2.4 GHz wireless devices. Tech. rep. Intel Corporation (2012)
2.
Fabre, R., Rouxel, Q., Passault, G., N’Guyen, S., Ly, O.: Dynaban, an open-source alternative firmware for dynamixel servo-motors. In: Symposium RoboCup 2016: Robot World Cup XX (2016)
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Hansen, N., Ostermeier, A.: Completely derandomized self-adaptation in evolution strategies. Evol. Comput. 9(2), 159–195 (2001)CrossRef
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Missura, M., Behnke, S.: Lateral capture steps for bipedal walking. In: 2011 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 401–408. IEEE (2011)
8.
Passault, G., Rouxel, Q., Hofer, L., N’Guyen, S., Ly, O.: Low-cost force sensors for small size humanoid robot. In: 2015 IEEE-RAS 15th International Conference on (Video Contribution) Humanoid Robots (Humanoids), pp. 1148–1148. IEEE (2015). https://​youtu.​be/​_​d7Phe0qois
9.
Rouxel, Q., Passault, G., Hofer, L., N’Guyen, S., Ly, O.: Learning the odometry on a small humanoid robot. In: 2016 IEEE International Conference on Robotics and Automation (ICRA). IEEE (2016)
10.
Rouxel, Q., Passault, G., Hofer, L., N’Guyen, S., Ly, O.: Rhoban hardware and software open source contributions for robocup humanoids. In: IEEE-RAS International Conference on Humanoid Robots Proceedings of 10th Workshop on Humanoid Soccer Robots. Seoul, Korea (2015)
11.
Sardain, P., Bessonnet, G.: Forces acting on a biped robot. Center of pressure-zero moment point. IEEE Trans. Syst. Man Cybern. Part A Syst. Humans 34(5), 630–637 (2004)CrossRef
Metadata
Title
Rhoban Football Club: RoboCup Humanoid Kid-Size 2016 Champion Team Paper
Authors
Julien Allali
Louis Deguillaume
Rémi Fabre
Loic Gondry
Ludovic Hofer
Olivier Ly
Steve N’Guyen
Grégoire Passault
Antoine Pirrone
Quentin Rouxel
Copyright Year
2017
Book
RoboCup 2016: Robot World Cup XX

Print ISBN: 978-3-319-68791-9

Electronic ISBN: 978-3-319-68792-6

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-68792-6_41

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