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25.01.2010 Soccer-Playing Robots Stehle/Zelewski Presented by: Michael Zelewski and Tilmann Stehle Soccer Playing Robots Soccer Playing Robots

Transcript of Soccer Playing Robots - uni-hamburg.de · • Localization • Locomotion • Coordination •...

25.01.2010 Soccer-Playing RobotsStehle/Zelewski

Presented by:Michael Zelewski

andTilmann Stehle

Soccer Playing RobotsSoccer Playing Robots

25.01.2010 Soccer-Playing Robots Stehle/Zelewski

ContentContent

• Definition• Motivation• RoboCup• Challenges• Future of robot soccer

25.01.2010 Soccer-Playing Robots Stehle/Zelewski

DefinitionDefinition

In robot soccer (partly) autonomous, intelligentagents play soccer against each other, while the

rules are assimilated to the FIFA standards.

25.01.2010 Soccer-Playing Robots Stehle/Zelewski

MotivationMotivation

• Test environment for latest technologies• Education• Success in robot soccer as a sign of good

technology• Fun encourages people to research and

develop robot technologies

25.01.2010 Soccer-Playing Robots Stehle/Zelewski

Five categories• Simulation• Small size

• Middle size• Standard Platform

• Humanoid

RoboCupRoboCupThe world championship in robot soccerThe world championship in robot soccer

25.01.2010 Soccer-Playing Robots Stehle/Zelewski

Simulation

• 22 virtual robots• Central simulation server• Client-server-system• Server provides information depending on

the client status• Clients can move their simulated robots by

predefined commands

25.01.2010 Soccer-Playing Robots Stehle/Zelewski

Small size robot league

• Two teams of 5 Robots each

• Maximum robot dimensions:– diameter: 180mm– height: 15cm

• Field dimensions:4.05m x 6.05m

• Global vision• Off-field PC

25.01.2010 Soccer-Playing Robots Stehle/Zelewski

25.01.2010 Soccer-Playing Robots Stehle/Zelewski

Middle Size League

• Two teams of up to 6 robots each• Maximum cross section: 50cm• Field: 18m x 12m• On-board vision• Different Sensors• Fully autonomous action

25.01.2010 Soccer-Playing Robots Stehle/Zelewski

Humanoid League

• Human-like body and senses• Division into three classes:

– KidSize(30-60cm)– TeenSize(100-130cm)

– AdultSize(130cm and taller)

• Communication via WLAN

25.01.2010 Soccer-Playing Robots Stehle/Zelewski

Bruno

• Height: 57cm• Weight: 3300g

• 21 DOF• Head camera

• Accelerometer• Gyroscope

• Joint angle encoders

25.01.2010 Soccer-Playing Robots Stehle/Zelewski

Standard PlatformLeague

• Same hardware for both Teams

• Focus on software development (AI)

• Standard Platform until 2008: Aibo

• Now: NAO, Humanoid

25.01.2010 Soccer-Playing Robots Stehle/Zelewski

25.01.2010 Soccer-Playing Robots Stehle/Zelewski

25.01.2010 Soccer-Playing Robots Stehle/Zelewski

NAO

25.01.2010 Soccer-Playing Robots Stehle/Zelewski

ChallengesChallenges

• Vision/Object recognition• Localization• Locomotion• Coordination• Communication

25.01.2010 Soccer-Playing Robots Stehle/Zelewski

Future of robot soccer

• RoboCup 2010: Singapore• RoboCup will go on taking place• Increasing budgets• Tournaments will accustom people to

robots• Aim: 2050 win against the current world

champion team in soccer

25.01.2010 Soccer-Playing Robots Stehle/Zelewski

20502050