168 research outputs found
Ambiente de simulação para agentes em futebol robótico
Mestrado em Engenharia de Computadores e TelemáticaO teste de algoritmos na área da robótica pode ser uma tarefa difícil, especialmente
se o teste envolver múltipos robots. Neste contexto o uso de um
simulador torna-se uma ferramenta importante no teste de algoritmos pois
permite ultrapassar algumas limitações e oferece várias vantagens.
CAMBADA é a equipa de futebol robótico da liga de tamanho médio da Universidade
de Aveiro, Portugal. A equipa está familiarizada com as limitações
do uso de robots reais para o teste de algoritmos. Devido a isso o simulador
criado pela equipa Brainstormers Tribots foi adaptado para prover um ambiente
de simulação ao software CAMBADA e estava em uso aquando do
início desta dissertação. O simulador oferecia pouca flexibilidade na modelação dos robots que resultava em comportamentos imprecisos, oferecia
também reduzida interacção com a simulação.
O objectivo desta dissertação é criar um ambiente de simulação para agentes
em futebol robótico com a intenção de melhorar o ambiente de simulação da
equipa CAMBADA. O simulador deve ser capaz de simular dinâmica de objectos
a três dimensões, sensores e actuadores ao mesmo tempo que oferece
visualização do mundo e a possibilidade de interagir com a simulação.
Da pesquisa realizada sobre simuladores robóticos o simulador Gazebo respeitava
os nossos requisitos e foi escolhido para código base do nosso simulador.
Para criar um ambiente simulado adequado à equipa CAMBADA alguns
componentes do Gazebo foram alterados e novos sensores e actuadores
virtuais foram desenvolvidos. Vários componentes do software CAMBADA
tiveram que sofrer alterações de modo a suportar um ambiente simulado. O
robot virtual foi modelado de modo a assemelhar-se com o robot real com
o objectivo de obter comportamentos mais precisos.
O simulador desenvolvido substituiu a solução anteriormente criada pela
equipa CAMBADA e foi usado nos testes de preparação para a participação
da equipa no RoboCup 2010 em Singapura onde deu o seu contributo na
obtenção do terceiro lugar.In the field of robotics, testing algorithms with the real robots can be a
di cult task, specially if the test involves more than one robot. In this
context a simulator is an important tool for testing algorithms because it
helps overcome some limitation and o ers several advantages.
CAMBADA is the RoboCup MSL soccer team of the University of Aveiro,
Portugal. The team is familiar with the limitations of using the real robots
for testing algorithms. Therefore, a simulator created by the Brainstormers
Tribots team was adapted to provide a simulated environment for their
software and was used for testing at the time of the beginning of this thesis.
The simulator offered low flexibility on the modeling of the robots from
which resulted inaccurate behaviors, it also o ered reduced interaction with
the simulation.
The purpose of this thesis is to create a simulation environment for robotic
soccer agents with the intention of improving the simulated environment for
the CAMBADA team. The simulation must provide three-dimensional dynamics
of objects, be capable of simulating sensors and actuators, allow the
visualization of the simulation and provide interaction with the simulation.
From the conducted survey about robotic simulators, the simulator Gazebo
complied with our requirements and was chosen to provide the code base
for our simulator. To create an adequate simulation environment for the
CAMBADA team some components of Gazebo were modi ed and new sensors
and actuator were developed. Several components of the CAMBADA
software had to be modified to support the simulated environment. The virtual
robot was modeled to resemble the real robot to provide more accurate
behaviors.
The developed simulator substituted the previous solution created by
CAMBADA team and was used in the preparation tests for the participation
in the RoboCup 2010 in Singapore where it contributed to obtain of
the third-place
Scaled Autonomy for Networked Humanoids
Humanoid robots have been developed with the intention of aiding in environments designed for humans. As such, the control of humanoid morphology and effectiveness of human robot interaction form the two principal research issues for deploying these robots in the real world. In this thesis work, the issue of humanoid control is coupled with human robot interaction under the framework of scaled autonomy, where the human and robot exchange levels of control depending on the environment and task at hand. This scaled autonomy is approached with control algorithms for reactive stabilization of human commands and planned trajectories that encode semantically meaningful motion preferences in a sequential convex optimization framework.
The control and planning algorithms have been extensively tested in the field for robustness and system verification. The RoboCup competition provides a benchmark competition for autonomous agents that are trained with a human supervisor. The kid-sized and adult-sized humanoid robots coordinate over a noisy network in a known environment with adversarial opponents, and the software and routines in this work allowed for five consecutive championships. Furthermore, the motion planning and user interfaces developed in the work have been tested in the noisy network of the DARPA Robotics Challenge (DRC) Trials and Finals in an unknown environment.
Overall, the ability to extend simplified locomotion models to aid in semi-autonomous manipulation allows untrained humans to operate complex, high dimensional robots. This represents another step in the path to deploying humanoids in the real world, based on the low dimensional motion abstractions and proven performance in real world tasks like RoboCup and the DRC
Pose and Velocity Estimation for Soccer Robots
This paper details the design and real-time implementation of a planar state estimator for soccer robots. A camera system, encoders, gyroscope and accelerometer are combined in a two-stage Kalman filter through a constant acceleration model. Inflating Noise Variance is employed to handle slip and ensure convergence in stationary periods. The approach oers substantial improvement w.r.t. the old pose estimator
Humanoid Robot NAO : developing behaviours for soccer humanoid robots
Tese de mestrado integrado. Engenharia Informática e Computação. Faculdade de Engenharia. Universidade do Porto. 201
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