1 / 8

Mini-RoboCup Huai-Ping Lee and Lei Wei

Motion sequence for holding the ball and turning toward the goal ... too small and has the same color as the goal. We need the size of a baseball, but lighter ...

Jims
Download Presentation

Mini-RoboCup Huai-Ping Lee and Lei Wei

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

    1. Mini-RoboCup Huai-Ping Lee and Lei Wei

    2. Introduction Goal: let AIBOs play soccer But we only have one (or two) AIBO now Perhaps one AIBO as striker and the other one as goal keeper

    3. Techniques Involved Basic motion sequences Kicking, holding, dribbling, saving, etc. Vision Recognizing the ball, the goal and some markers on the field Localization Knowing where it is on the field

    4. Current Progress Motion sequence for kicking By editing joint angles and its duration (time consuming!) Like key-framing ControllerGUI in Tekkotsu can help us to get joint angles Diving is the most effective kicking style (video) Also need a carpet that is soft enough to let it dive safely Other kicking methods can kick toward different directions, but not accurate

    5. Current Progress Motion sequence for holding the ball and turning toward the goal Turn, move to left or right, and move backward at the same time to make the head always point to the ball (video) Hope to add motions of front legs and the head to protect the ball

    6. Current Progress We can use Easytrain to let it recognize new things The tennis ball we used is too small and has the same color as the goal We need the size of a baseball, but lighter and with a bright color Of course the AIBO pink ball is the best Please tell us if you have one $15.00 on eBay

    7. EasyTrain

    8. Future Work Compute the coordinates of the ball Localization by recognizing markers Game strategy More fancy motion sequence, if time permits Defense!

More Related