Motion Optimization of Humanoid Robot Soccer “Goalkeeper” Using Behavior Based Coordination

Accuracy and speed of movement is required for a goalkeeper robot in the Robocup soccer competition. Moreover, instability and robustness of goalkeeper robot is often a problem in itself that often arise especially if the robot is a humanoid robot. There are various methods on how to improve the performance of movement of humanoid robot have been actively studied. So now we propose how to optimize the movement of humanoid robot and research to this time is devoted to the movement of a humanoid robot goalkeeper by using behavior based coordination. In this paper, a stabilization algorithm is proposed using the balance condition of the robot, which is measured using accelerometer sensor during standing, walking, turning, getting up, etc. Then the information from the outside is obtained by using the other sensor that is webcam camera and also from this sensor the robot can decide and behave to respond the data information effectively. In order to generate the proper and fast reaction, so a behavior based algorithm is applied in finding the most effective movement when the robot responds some stimulus. The performance of the proposed algorithm is verified by walking, getting up and ball anticipating movement and this experiment is conducted on a 16-DOFs humanoid robot, called EEPIS Fußball Robot IO (EFuRIO) 2nd generation

Push Recovery of a Position-Controlled Humanoid Robot Based on Capture Point Feedback Control

In this paper, a combination of ankle and hip strategy is used for push recovery of a position-controlled humanoid robot. Ankle strategy and hip strategy are equivalent to Center of Pressure (CoP) and Centroidal Moment Pivot (CMP) regulation respectively. For controlling the CMP and CoP we need a torque-controlled robot, however most of the conventional humanoid robots are position controlled. In this regard, we present an efficient way for implementation of the hip and ankle strategies on a position controlled humanoid robot. We employ a feedback controller to compensate the capture point error. Using our scheme, a simple and practical push recovery controller is designed which can be implemented on the most of the conventional humanoid robots without the need for torque sensors. The effectiveness of the proposed approach is verified through push recovery experiments on SURENA-Mini humanoid robot under severe pushes

Flow Direction Prediction of Ball Movement for Humanoid Robot Soccer Goalkeeper

In Robocup, The most important sensor on humanoid robot soccer is a camera. The camera serves as the eyes of the robot as well as in humans. This camera is used by the robot to detect the ball. The task of Humanoid Robot Soccer as a Goalkeeper is to keep the goal and must be able to block a ball that came directly to the goal from many directions so the ball is not got into the goal. As already been known, the results of the camera image captured is always later than the pictures that has been taken, moreover if the shooting process is added with image processing such as adjusting contrast, brightness, etc. then the delay in image capture will be even greater. This causes late in reaction to the Humanoid Robot Soccer Goalkeeper when it’s blocking the ball that coming from any direction. Therefore we need a computer vision technique to estimate the direction of movement of the ball so there is no delay in reaction to the robot in blocking the ball. In this paper is discussed the flow direction prediction of the ball movement for Humanoid Robot Soccer Goalkeeper. The processing of ball movement prediction is obtained by comparing the previous ball data detection and the latest data detection to get the direction of the ball movement. This robot is a second generation of humanoid robot called EFuRIO soccer (Fußball EEPIS Robot IO)

Vision system implementation on Bioloid robot

Tato bakalářská práce se zabývá implementací systému vidění na dvounohý humanoid robot ze stavebnice Bioloid. Systém vidění je složen z bezdrátové kamery, která je namontovaná na robotovi a z řídícího počítače. Cílem této práce bylo zkonstruovat a oživit humanoidního robota, vytvořit systém vidění a bezdrátový komunikační systém. V centru je robot, který pomocí bezdrátové komunikace současně odesílá i přijímá údaje. Tento systém nabízí skvělé schopnosti na další rozšíření.This bachelor's thesis deals with vision system implementation on bipedal humanoid robot made of the Bioloid assembly kit. The vision system is composed of a wireless camera, mounted on the robot and the controlling computer. The goal of this work was to construct and vitalize the humanoid robot, to establish the vision system and to create a wireless communication system. The center of this system is the robot, which wirelessly sends and receives data simultaneously. This system offers great capabilities for further expansions.

ROBOT HUMANOID SEBAGAI SUMBER INSPIRASI DALAM PENCIPTAAN KARYA SENI GRAFIS

Tugas Akhir ini memvisualisasikan gagasan pemikiran penulis dalam bentuk karya seni grafis dengan teknik cetak tinggi, yang terinspirasi dari keunikan robot humanoid. Permasalahan yang dibahas dalam Tugas Akhir ini, yaitu; 1) Apa keunikan robot humanoid yang menumbuhkan inpirasi?, 2) Mengapa keunikan robot humanoid dapat menumbuhkan inspirasi untuk berkarya seni rupa?, 3) Bagaimana mewujudkan keunikan robot humanoid ke dalam karya seni grafis? Tujuan Tugas Akhir ini adalah; 1) Menjelaskan keunikan robot humanoid yang dapat menumbuhkan inspirasi. 2) Menjelaskan keunikan robot humanoid yang dapat diwujudkan ke dalam karya seni rupa. 3) Mewujudkan keunikan robot humanoid ke dalam karya seni grafis. Dewasa ini bermunculan berbagai produk robot humanoid. Robot humanoid adalah robot yang dapat beradaptasi dengan perubahan lingkungan atau dirinya sendiri. Keunikan bentuk fisik dan bentuk fungsinya yang beragam memunculkan inspirasi kepada penulis yang ditangkap dalam bentuk ide. Penulis kemudian mengembangkan keunikan tersebut dan menjadikannya sebagai sumber inspirasi dalam konsep penciptaan karya Tugas Akhir. Penulis mewujudkan konsep penciptaan tersebut dalam karya seni grafis dengan teknik cetak tinggi. Medium yang digunakan adalah hardboardcut di atas kertas berukuran 40 x 60 cm sebanyak 14 karya dan dicetak sebanyak 5 edisi pada tiap karya. Kata kunci: Robot Humanoid; Keunikan Bentuk Fisik dan Bentuk Fungsi; Hardboardcut di atas Kertas; Seni Grafis

Children, Humanoid Robots and Caregivers

This paper presents developmental learning on a humanoid robot from human-robot interactions. We consider in particular teaching humanoids as children during the child's Separation and Individuation developmental phase (Mahler, 1979). Cognitive development during this phase is characterized both by the child's dependence on her mother for learning while becoming awareness of her own individuality, and by self-exploration of her physical surroundings. We propose a learning framework for a humanoid robot inspired on such cognitive development