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Development of Humanoid Soccer Robots

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Presentation on theme: "Development of Humanoid Soccer Robots"— Presentation transcript:

1 Development of Humanoid Soccer Robots
Dr Changjiu Zhou School of Electrical & Electronic Engineering Singapore Polytechnic Development of Humanoid Soccer Robots

2 Brazil vs. Robo-Erectus
Humans vs. Humanoids 20?? FIFA World Cup Final Humans XX Humanoids XX When? 2002 FIFA World Cup Final Brazil Germany Our Dream… Brazil vs. Robo-Erectus Development of Humanoid Soccer Robots

3 Development of Humanoid Soccer Robots
Humanoid League By the year 2050, develop a team of fully autonomous humanoid robots that can win against the human world soccer champions. ©AP Photo Development of Humanoid Soccer Robots

4 Robo-Erectus: Humanoid Soccer Robots
The Robo-Erectus Project in Singapore Polytechnic Development of Humanoid Soccer Robots

5 Robo-Erectus at Present
1st Place, Free Performance, RoboCup Humanoid League 2003 2nd Place, Humanoid Walk, RoboCup Humanoid League 2002 3rd Place, FIRA HuroSot 2002 Development of Humanoid Soccer Robots

6 Development of Humanoid Soccer Robots
Outline Introduction Overview of Humanoid League Development of Robo-Erectus Basic Research Issues in Humanoid Soccer Robotics Conclusions - Where Are We Going? Development of Humanoid Soccer Robots

7 Soccer robots at ARICC, Singapore Polytechnic
RoboCup at Present Soccer robots at ARICC, Singapore Polytechnic Development of Humanoid Soccer Robots

8 Development of Humanoid Soccer Robots
Future of RoboCup ©RE Artists Wai Yin and Phyu Phyu. Development of Humanoid Soccer Robots

9 Development of Humanoid Soccer Robots
Dream… ©RE Artists Wai Yin and Phyu Phyu. Development of Humanoid Soccer Robots

10 Development of Humanoid Soccer Robots
FIRA HuroSot Robot dash Penalty kick Obstacle run H-50 H-80 H-150 FIRA HuroSot 2002 Development of Humanoid Soccer Robots

11 FIRA HuroSot – Robot Dash
Robo-Erectus at FIRA HuroSot 2002 Development of Humanoid Soccer Robots

12 FIRA HuroSot - Penalty Kick
Robo-Erectus at FIRA HuroSot 2002 Development of Humanoid Soccer Robots

13 FIRA HuroSot - Obstacle Run
Development of Humanoid Soccer Robots

14 RoboCup Humanoid League
Stand on one leg Walk Penalty Kick Free Performance 1 vs. 1 H-40 Class H-80 Class H-120 Class Development of Humanoid Soccer Robots

15 Development of Humanoid Soccer Robots
Humanoid League: Walk Humanoid Walk Development of Humanoid Soccer Robots

16 Development of Humanoid Soccer Robots
Humanoid League: Walk Humanoid Walk Development of Humanoid Soccer Robots

17 Development of Humanoid Soccer Robots
Humanoid Walk 2002 Class (cm) Name of team Country 1st time 2nd time 3rd time Total time 1st 80 Nagara Japan 1'24" 1'01" 1'04" 3'29" 2nd 40 Robo-Erectus Singapore 1'10" 1'42" 0'59" 3'51" 3rd Foot-Prints 1'49" 3'03" 8'21" 4th The Ninja 3'48" 1'25" 4'27" 9'40" 5th Senchans 3'53" 3'37" 1'35" 9'05" Development of Humanoid Soccer Robots

18 Humanoid League at Present
Robot vs Robot Human vs Robot Development of Humanoid Soccer Robots

19 Development of Humanoid Soccer Robots
Outline Introduction Overview of Humanoid League Development of Robo-Erectus Basic Research Issues in Humanoid Soccer Robotics Conclusions - Where Are We Going? Development of Humanoid Soccer Robots

20 Development of the Robo-Erectus (1)
Development of Humanoid Soccer Robots

21 Development of the Robo-Erectus (2)
RE40I – Humanoid Soccer Robot, 2002 Development of Humanoid Soccer Robots

22 Development of Robo-Erectus (3)
RE40II RE40I RE40I (PDA) RE50II Development of Humanoid Soccer Robots

23 Development of Robo-Erectus (4)
RE40II, 2003 Development of Humanoid Soccer Robots

24 Development of the Robo-Erectus (5)
RE Team at Humanoid League, Padova, Italy, July 2003 Development of Humanoid Soccer Robots

25 Development of Robo-Erectus (6)
RE25I and RE40II Development of Humanoid Soccer Robots

26 Development of Humanoid Soccer Robots
Robo-Erectus Family RE25I RE40II RE50II RE80II Height 25 cm 40 cm 80 cm Weight 1 kg 3 kg 4 kg 7 kg Total DOF 10 22 DOF arrangement Legs – 5 x 2 Neck – 2 Arms – 4 x 2 Legs – 6 x 2 Sensors accelerometers, force sensors, gyros, range sensors and etc. Vision stereo camera Controller Multi-control mode: (1) PC; (2) Microcontroller; (3) PDA; (4) Wireless Power NiMH batteries Development of Humanoid Soccer Robots

27 Configuration of Robo-Erectus (H/W)
Compass Camera Accelerometers and gyros IR and Ultrasonic sensors 4 force sensing sensors for each foot Development of Humanoid Soccer Robots

28 Configuration of Robo-Erectus (S/W)
Navigation Walking Control Actuator Control Schematic diagram of the hierarchical control system Development of Humanoid Soccer Robots

29 Example: Gait Planning
Development of Humanoid Soccer Robots

30 Development of Humanoid Soccer Robots
Outline Introduction Overview of Humanoid League Development of Robo-Erectus Basic Research Issues in Humanoid Soccer Robotics Conclusions - Where Are We Going? Development of Humanoid Soccer Robots

31 Research Issues of Humanoid Robotics
Intelligence Perception Communication Power Supply Manipulation Bipedal Walking Material Development of Humanoid Soccer Robots

32 Development of Humanoid Soccer Robots
Basic Research Issues Scientific Challenges Materials Locomotion Sensor fusion High-level cognitive system Team coordination Development of Humanoid Soccer Robots

33 Development of Humanoid Soccer Robots
Challenges (example) High-level cognitive systems: issues of brain and cognitive science; gesture recognition, … Real-time 3D recognition must work outdoors in unconstrained lighting condition. Safety of the human/humanoid players? Development of Humanoid Soccer Robots

34 Benchmark of the Humanoid League
Kitano and Asada (1998) Development of Humanoid Soccer Robots

35 Development of Humanoid Soccer Robots
Outline Introduction Overview of Humanoid League Development of Robo-Erectus Control and Learning in Humanoid Walk and Kick Conclusions - Where Are We Going? (Humanoid League Roadmap and Challenges) Development of Humanoid Soccer Robots

36 Collaboration between HL and other leagues
SSL MSL Legged Rescue Rescue Simu SimuL Junior HL Intelligence Perception Communication Power Supply Manipulation Bipedal Walking Material Development of Humanoid Soccer Robots

37 Roadmap: Technical Issues
41-50 yrs Artificial soccer-player 31-40 yrs 21-30 yrs 11-20 yrs 6-10 yrs Run Passing Human-like gripping 6 hrs duration Body and natural language processing Navigation in human environ-ments Task understan-ding 1-5 yrs Jump, dynamic walk Moving ball Forecas-ting movement Today Static walk Station-ary ball Walk Kick Manipu-lation Power Commu-nication Percep-tion Intelli-gence Development of Humanoid Soccer Robots

38 Development of Humanoid Soccer Robots
Humanoid Walk Current Basic walking patterns (humanoid walking pattern library) Forward, Backward, Side, Turn, … Variable stepsize, variable speed, … Online gait generating Online footprint planning Near future Jump Artificial muscles Flexible joints (True) dynamic walk Run Development of Humanoid Soccer Robots

39 Development of Humanoid Soccer Robots
Humanoid Kick Current Basic kicking patterns (humanoid kicking pattern library) Stationary ball Near future Moving ball Passing New ways of ball manipulation Playing the ball in 3D Development of Humanoid Soccer Robots

40 Development of Humanoid Soccer Robots
Humanoid Challenges To implement a set of biped walking and kicking skills that can be integrated in humanoids To coordinate perception and locomotion To integrate the soccer-playing skills in a humanoid Development of Humanoid Soccer Robots

41 Humanoid League Challenges
2004- Balancing challenge Passing challenge Obstacle walk challenge 2005- 1 vs 1 Object following Multiple objects tracking 2007- 2 vs 2 Collision avoidance Safety issue 2010- Start cognitive issues Coordination of perception and locomotion Integration Development of Humanoid Soccer Robots

42 Where Should Humanoid League Go?
Collaboration with other leagues Small-size Humanoid League (SHL) Global vision? To focus on walking and kicking issues Mid-size Humanoid League (MHL) Local vision To focus on integration Humanoid simulation Development of Humanoid Soccer Robots

43 Development of Humanoid Soccer Robots
References H. Kitano and H. Asada, “The RoboCup humanoid challenge as the millennium challenge for advanced robotics,” Advanced Robotics 13(8) (2000) C. Zhou and Q. Meng, “Dynamic balance of a biped robot using fuzzy reinforcement learning agents,” Fuzzy Sets and Systems 134(1) (2003) C. Zhou, P.K. Yue, Z. Tang, Z. Sun, “Development of Robo-Erectus: A soccer-playing humanoid robot,” Proc. IEEE-RAS Intl. Conf. on Humanoid Robots, CD-ROM, 2003. Development of Humanoid Soccer Robots

44 Development of Humanoid Soccer Robots
Acknowledgements Staff Member P.K. Yue, F.S. Choy, Nazeer Ahmed M.F. Ercan, Mike Wong, H. Li Research Associate Z. Tang (Tsinghua U.), J. Ni (Shanghai Jiao Tong U.) Technical Support Officer H.M. Tan, W. Ye Students P.P. Khing, H. W. Yin, H.F. Lu, H.X. Tan, J.X. Teo, Stephen Quah, H.M. Tan, Y.T. Tan Development of Humanoid Soccer Robots

45 Thanks! Dr Changjiu Zhou
School of Electrical and Electronic Engineering Singapore Polytechnic Development of Humanoid Soccer Robots


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