Presentation is loading. Please wait.

Presentation is loading. Please wait.

The NAO Soccer Robots Implementing soccer behaviors in the Webots simulator for NAO robots. Kristjan Arumae, Sarah Myhre, Chris Cassian Olschewski Sponsor:

Similar presentations


Presentation on theme: "The NAO Soccer Robots Implementing soccer behaviors in the Webots simulator for NAO robots. Kristjan Arumae, Sarah Myhre, Chris Cassian Olschewski Sponsor:"— Presentation transcript:

1 The NAO Soccer Robots Implementing soccer behaviors in the Webots simulator for NAO robots. Kristjan Arumae, Sarah Myhre, Chris Cassian Olschewski Sponsor: Dr. Gita Sukthankar Adviser: Astrid Jackson Senior Design: Dr. Mark Heinrich

2 Project Objectives Create autonomous agents with soccer behaviors in a simulation environment Create resources to guide future students working with the NAO simulator or robots

3 Current State Soccer simulation code is rare
Most code develop for SimSpark Complexity through years of iteration Documentation limited and incomplete Difficult to adopt for own purposes, not designed for flexibility

4 Solutions by (Senior) Design
Make code public and easily available Develop in Webots for NAO Structure low-level design in a modular, easy to approach way Have thorough and complete documentation Design code for multiple functions

5 Major Components Robot Locomotion & Decision Making Online Resources
Robot Vision

6 Team Development Windows, Mac, Linux Linux Java Python
Choreographe                        Naoqi API Webots Trackers                    OpenCV

7 Technical Design

8 Major Components Robot Locomotion & Decision Making Online Resources
Robot Vision

9 Robot Vision: OpenCV RGB HSV BGR Grayscale

10 Robot Vision: In Code

11 Robot Vision: In Code

12 Robot Vision: Bounding Boxes

13 Major Components Robot Locomotion & Decision Making Online Resources
Robot Vision

14 NAOqi: Anatomy of a Kick
Legs fixed to constrains Balance activated for support leg Duration for balance leg mode set 3 lists of actuator settings passed 3 time steps passed and motion executed

15 NAOqi: Kick Locomotion

16 NAOqi: Decision Making
NAO Behavior Tree Goalie

17 NAOqi: Decision Making
Behavior → init stance → find ball → block

18 NAOqi: Decision Making
NAO Behavior Tree Striker

19 NAOqi: Decision Making
Striker Behavior Walk Towards

20 NAOqi: Decision Making

21 Major Components Robot Locomotion & Decision Making Online Resources
Robot Vision

22 Resource: Online Wiki

23 Future Applications Memory of World State, Confidences
Artificial Neural Networks Locomotion Training with Genetic Algorithms

24 Implements proposed solutions?
Evaluation Implements proposed solutions?

25 Implements proposed solutions!
Evaluation Implements proposed solutions! ü Widely available on public git repository: https://github.com/ChecksumCharlie/nao-ucf

26 Implements proposed solutions!
Evaluation Implements proposed solutions! ü Widely available on public git repository: https://github.com/ChecksumCharlie/nao-ucf ü Implementation specifically tailored to Webots

27 Implements proposed solutions!
Evaluation Implements proposed solutions! ü Widely available on public git repository: https://github.com/ChecksumCharlie/nao-ucf ü Implementation specifically tailored to Webots ü Code with different levels of sophistication

28 Implements proposed solutions!
Evaluation Implements proposed solutions! ü Widely available on public git repository: https://github.com/ChecksumCharlie/nao-ucf ü Implementation specifically tailored to Webots ü Code with different levels of sophistication ü All documentation online: NAO UCF website

29 Implements proposed solutions!
Evaluation Implements proposed solutions! ü Widely available on public git repository: https://github.com/ChecksumCharlie/nao-ucf ü Implementation specifically tailored to Webots ü Code with different levels of sophistication ü ü All documentation online: NAO UCF website ü Team templates and plug’n’play BTs/FSMs

30 CS Senior Design Year 1 Complete
Team Soccer Robots created autonomous agents with soccer behaviors in a simulation environment Team Soccer Robots created resources to guide future students working with the NAO simulator or robots


Download ppt "The NAO Soccer Robots Implementing soccer behaviors in the Webots simulator for NAO robots. Kristjan Arumae, Sarah Myhre, Chris Cassian Olschewski Sponsor:"

Similar presentations


Ads by Google