Strategy planning for collaborative humanoid soccer robots based on principle solution

The final publication is available at Springer via http://dx.doi.org/10.1007/s11740-012-0416-4[EN] Collaborative humanoid soccer robots are currently under the lime light in the rapidly advancing research area of multi-robot systems. With new functionalities of software and hardware, they are becoming more versatile, robust and agile in response to the changes in the environment under dynamic conditions. This work focuses on a new approach for strategy planning of humanoid soccer robot teams as in the RoboCup Standard Platform League. The key element of the approach is a holistic system model of the principle solution encompassing various strategies of a soccer robot team. The benefits of the model-based approach are twofold¿it enables intuitive behavioral specification of the humanoid soccer robots in line with the team strategies envisaged by the system developers, and it systematizes the realization of their collaborative behaviors based on the principle solution. The principle solution is modeled with the newly developed specification technique CONSENS for the conceptual design of mechatronic and self-optimizing systems.The specification technique CONSENS was developed in the course of the Collaborative Research Center 614 ‘‘Self-Optimizing Concepts and Structures in Mechanical Engineering’’ funded by the German Research Foundation (DFG) under grant number SFB 614. The first two authors are funded by the Ministry of Higher Education Malaysia under the grant number 600-RMI/ST/ FRGS 5/3/Fst (256/2010) and 600-RMI/ERGS 5/3 (23/2011).Low, CY.; Aziz, N.; Aldemir, M.; Dumitrescu, R.; Anacker, H.; Mellado Arteche, M. (2013). Strategy planning for collaborative humanoid soccer robots based on principle solution. Production Engineering. 7(1):23-34. https://doi.org/10.1007/s11740-012-0416-4S233471Asada M, Kitano H (1999) The RoboCup challenge. Rob Auton Syst 29:3–12Spaan MTJ, Groen FCA (2002) Team coordination through roles, positioning and coordinated procedures. RoboCupLau N, Lopes LS, Corrente G, Nelson F (2009) Multi-robot team coordination through roles, positionings and coordinated procedures. In: 2009 IEEE/RSJ international conference on intelligent robots and systems, October 11–15, St. Louis, USAIocchi L, Nardi D, Piaggo M, Sgorbissa A (2003) Distributed coordination in heterogeneous multi-robot systems. Auton Robots 15:155–168Almeida F, Lau N, Reis LP (2010) A survey on coordination methodologies for simulated robotic soccer teams, multi-agent logics, languages, and organisations federated workshops (MALLOW 2010). Lyon, FranceLückel J, Hestermeyer T, Liu-Henke X (2001) Generalization of the Cascade principle in view of structured form of mechatronic systems. In: IEEE/ASME international conference on advanced intelligent mechatronics (AIM 2001), Villa Olmo, Como, ItalyInternational Council on Systems Engineering (INCOSE) (2007) Systems engineering vision 2020. Incose-TP-2004-004-02, SeptemberGausemeier J, Frank U, Donoth J, Kahl S (2009) Specification technique for the description of self-optimizing mechatronic systems. Res Eng Des 20(4):201–223Cyberbotics Ltd., Webots overview. 20 September 2012 at http://www.cyberbotics.com/overviewBirkhofer H (1980) Analyse und Synthese der FunktionenTechnischerProdukte. Dissertation, TechnischeUniversitätBraunschweigLanglotz G (2000) Ein Beitrag zur Funktionsstrukturentwicklung Innovativer Produkte. Dissertation, Institut fuerr Rechneranwendung in Planung und Konstruktion, Universitaet Karlsruhe, Shaker-Verlag, Band 2/2000, AachenPostel J (1980) User Datagram Protocol. RFC 760, USC/Information Sciences Institut

Development of a Locomotion and Balancing Strategy for Humanoid Robots

The locomotion ability and high mobility are the most distinguished features of humanoid robots. Due to the non-linear dynamics of walking, developing and controlling the locomotion of humanoid robots is a challenging task. In this thesis, we study and develop a walking engine for the humanoid robot, NAO, which is the official robotic platform used in the RoboCup Spl. Aldebaran Robotics, the manufacturing company of NAO provides a walking module that has disadvantages, such as being a black box that does not provide control of the gait as well as the robot walk with a bent knee. The latter disadvantage, makes the gait unnatural, energy inefficient and exert large amounts of torque to the knee joint. Thus creating a walking engine that produces a quality and natural gait is essential for humanoid robots in general and is a factor for succeeding in RoboCup competition. Humanoids robots are required to walk fast to be practical for various life tasks. However, its complex structure makes it prone to falling during fast locomotion. On the same hand, the robots are expected to work in constantly changing environments alongside humans and robots, which increase the chance of collisions. Several human-inspired recovery strategies have been studied and adopted to humanoid robots in order to face unexpected and avoidable perturbations. These strategies include hip, ankle, and stepping, however, the use of the arms as a recovery strategy did not enjoy as much attention. The arms can be employed in different motions for fall prevention. The arm rotation strategy can be employed to control the angular momentum of the body and help to regain balance. In this master\u27s thesis, I developed a detailed study of different ways in which the arms can be used to enhance the balance recovery of the NAO humanoid robot while stationary and during locomotion. I model the robot as a linear inverted pendulum plus a flywheel to account for the angular momentum change at the CoM. I considered the role of the arms in changing the body\u27s moment of inertia which help to prevent the robot from falling or to decrease the falling impact. I propose a control algorithm that integrates the arm rotation strategy with the on-board sensors of the NAO. Additionally, I present a simple method to control the amount of recovery from rotating the arms. I also discuss the limitation of the strategy and how it can have a negative impact if it was misused. I present simulations to evaluate the approach in keeping the robot stable against various disturbance sources. The results show the success of the approach in keeping the NAO stable against various perturbations. Finally,I adopt the arm rotation to stabilize the ball kick, which is a common reason for falling in the soccer humanoid RoboCup competitions

An overview of RoboCup-2002 Fukuoka/Busan

© 2003, American Association for Artificial Intelligence (AAAI). This is an open access article distributed under the terms of the Creative Commons Attribution License (CC BY), https://creativecommons.org/licenses/by/4.0/This article reports on the Sixth Robot World Cup Competition and Conference (RoboCup-2002) Fukuoka/Busan, which took place from 19 to 25 June in Fukuoka, Japan. It was the largest RoboCup since 1997 and held the first humanoid league competition in the world. Further, the first ROBOTREX (robot trade and exhibitions) was held with about 50 companies, universities, and institutes represented. A total of 117,000 spectators witnessed this marvelous event, To the best of our knowledge, this was the largest robotic event in history.Peer reviewe

Systematic literature review of realistic simulators applied in educational robotics context

This paper presents a systematic literature review (SLR) about realistic simulators that can be applied in an educational robotics context. These simulators must include the simulation of actuators and sensors, the ability to simulate robots and their environment. During this systematic review of the literature, 559 articles were extracted from six different databases using the Population, Intervention, Comparison, Outcomes, Context (PICOC) method. After the selection process, 50 selected articles were included in this review. Several simulators were found and their features were also analyzed. As a result of this process, four realistic simulators were applied in the review’s referred context for two main reasons. The first reason is that these simulators have high fidelity in the robots’ visual modeling due to the 3D rendering engines and the second reason is because they apply physics engines, allowing the robot’s interaction with the environment.info:eu-repo/semantics/publishedVersio

06251 Abstracts Collection -- Multi-Robot Systems: Perception, Behaviors, Learning, and Action

From 19.06.06 to 23.06.06, the Dagstuhl Seminar 06251 ``Multi-Robot Systems: Perception, Behaviors, Learning, and Action\u27\u27 was held in the International Conference and Research Center (IBFI), Schloss Dagstuhl. During the seminar, several participants presented their current research, and ongoing work and open problems were discussed. Abstracts of the presentations given during the seminar as well as abstracts of seminar results and ideas are put together in this paper. The first section describes the seminar topics and goals in general. Links to extended abstracts or full papers are provided, if available

Humanoid Robot NAO : developing behaviours for soccer humanoid robots

Tese de mestrado integrado. Engenharia Informática e Computação. Faculdade de Engenharia. Universidade do Porto. 201