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VIEWS: 1 PAGES: 8

									   Mini-RoboCup

Huai-Ping Lee and Lei Wei
              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
                         •We hope the black AIBO
                         will come back soon…
                         otherwise we’ll have to use
                         roomba as goal keeper
           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
             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
          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
                                     V
    head to protect the ball
                              ω
            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
EasyTrain
             Future Work
• Compute the coordinates of the ball
• Localization by recognizing markers
• Game strategy
• More fancy motion sequence, if time
  permits
• Defense!

								
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