Gupta, R.K.

Iepsma, R.

Khalesi, B.

van Bellen, M.

Visser, A.

English

This is the debut of the Dutch Nao Team in the Standard Platform League. The team is a recreation of the Dutch Aibo Team, which was active in the predecessor of the SPL (2004-2006). This year participation is mainly intended to gain experience. As basis for the competition the code release of B-Human is used, with two modifications. The first modification is improved kicking behavior to accommodate the new ball. The second modification is two use both Nao camera’s (one for ball control and one for localization)

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UvA-DARE is a service provided by the library of the University of Amsterdam (https://dare.uva.nl)UvA-DARE (Digital Academic Repository)Dutch Nao Team: Team description paper: Standard Platform League: GermanOpen 2010Visser, A.; Iepsma, R.; van Bellen, M.; Gupta, R.K.; Khalesi, B.Publication date2010Document VersionFinal published versionLink to publicationCitation for published version (APA):Visser, A., Iepsma, R., van Bellen, M., Gupta, R. K., & Khalesi, B. (2010). Dutch Nao Team:Team description paper: Standard Platform League: German Open 2010. InformaticsInstitute. http://www.science.uva.nl/research/isla/pub/Visser10dnt.pdfGeneral rightsIt is not permitted to download or to forward/distribute the text or part of it without the consent of the author(s)and/or copyright holder(s), other than for strictly personal, individual use, unless the work is under an opencontent license (like Creative Commons).Disclaimer/Complaints regulationsIf you believe that digital publication of certain material infringes any of your rights or (privacy) interests, pleaselet the Library know, stating your reasons. In case of a legitimate complaint, the Library will make the materialinaccessible and/or remove it from the website. Please Ask the Library: https://uba.uva.nl/en/contact, or a letterto: Library of the University of Amsterdam, Secretariat, Singel 425, 1012 WP Amsterdam, The Netherlands. Youwill be contacted as soon as possible.Download date:09 Mar 2023Dutch Nao TeamTeam Description PaperStandard Platform LeagueGerman Open 2010Arnoud Visser, Robert Iepsma, Maurits van Bellen,Ravi Kumar Gupta, and Bardia KhalesiUniversiteit van Amsterdam, Science Park 107, 1098 XG Amsterdam, NLhttp://www.science.uva.nl/~arnoud/research/naoAbstract. This is the debut of the Dutch Nao Team in the StandardPlatform League. The team is a recreation of the Dutch Aibo Team,which was active in the predecessor of the SPL (2004-2006). This yearparticipation is mainly intended to gain experience. As basis for thecompetition the code release of B-Human is used, with two modifications.The first modification is improved kicking behavior to accommedate thenew ball. The second modificition is two use both Nao camera’s (one forball control and one for localization).IntroductionThe Dutch Nao Team consists this year of two enthousiast students from theBachelor Artifial Intelligence, supported by two international students from theMaster Artificial Intellingence.Because of the limited size and experience of the team, the main challengewill be to get an operational team, and include our modifications to a limitednumber of modules. Based on this experience new research direction will beformulated.The predecessor of this team, the Dutch Aibo Team, participated in threeRoboCup competitions (2004-2006) [1–3] and several local events. More impor-tant, a wide variety of articles, papers, theses and reports [4–20] were publishedas a result of the research performed inside the team.1 Team MembersThe code was originally developed by the B-Human team [21] and all othercontributions have been built into his framework.The following contributions have been made this year:Arnoud Visser : coordinationRavi Kumar Gupta and Bardia Khalesi : ball kickingRobert Iepsma and Maurits van Bellen : camera selection2 KickInspired by the movie accompanied by the recent work of Hester et al [22], anew kick was designed in Choreographe1. The new kick is stronger, becausethe ball is hit in the center with a higher speed. Additionally, the Nao has animproved balance, by using its arms as counter-balance and a lower center ofgravity by a stronger bending its of knees. Movies of this movement (both realand ssimulated) are online available 2.The Choreographe movement was converted to a special action which can becalled from the MotionControl. This convertion involved an unit change (fromdegrees to radians), a reordening of the different joints and the transformationof a few coordinate systems:φLShoulderPitch = 90o − φLShoulderPitch (1)φLShoulderRoll = φLShoulderRoll − 90o (2)φLHipRoll = −φLHipRoll (3)φRShoulderPitch = 90o − φRShoulderPitch (4)φRShoulderRoll = −90o − φRShoulderRoll (5)φRElbowRoll = −φRElbowRoll (6)This conversion was implemented in a Python script, which allows us to easilydevelop new movements.3 Camera selectionThe Nao is equiped with two cameras in his head. Currently, only the one is usedto recognize objects such as balls, lines and goals. For objects along the horizon,such as the opponent goal, the upper camera seems to be a better choice. Forobjects nearby, such as the ball, the lower camera seems to be a better choice. Analgorithm should eb found when to switch cameras. Further, the perceptionaldistortion and the lighting conditions for both camera will differ. This meansthat the all detection algorithms should be redesigned, trained and tested.4 ConclusionThis paper summarizes the intentions and contributions of the Dutch Nao Teamfor the German Open 2010 in Magdenburg.1 http://www.aldebaran-robotics.com/en/programmable2 http://naologbook.blogspot.com/2010/01/blog-post.htmlReferences1. Oomes, S., Jonker, P., Poel, M., Visser, A., Wiering, M., Caarls, W., Leijnen, S.,van Weers, S., Wijngaards, N., Dignum, F.: The dutch aibo team report on robocup2004. Technical report, Dutch Aibo Team (2005)2. Sturm, J., Visser, A., Wijngaards, N.: Dutch aibo team: Technical report robocup2005. Technical report, Dutch Aibo Team (2005)3. Visser, A., Sturm, J., van Rossum, P., Westra, J., Bink, T.: Dutch aibo team:Technical report robocup 2006. Technical report, Dutch Aibo Team (2006)4. Sturm, J., Visser, A.: An appearance-based visual compass for mobile robots.Robotics and Autonomous Systems 57 (2009)5. Liem, M., Visser, A., Groen, F.: A hybrid algorithm for tracking and followingpeople using a robotic dog. In: HRI ’08: Proceedings of the 3rd internationalconference on Human robot interaction, New York, USA, ACM (2008) 185–1926. Sturm, J., van Rossum, P., Visser, A.: Panoramic localization in the 4-leggedleague. In: RoboCup 2006: Robot Soccer World Cup X. Volume 4434 of LectureNotes on Artificial Intelligence., Berlin Heidelberg NewYork, Springer (2007) 387–3947. Mantz, F., Jonker, P., Caarls, W.: Thinking in behaviors, not in tasks; a behaviour-based vision system on a legged robot. In: RoboCup 2005: Robot Soccer World CupIX. Volume 4020 of Lecture Notes in Computer Science., Springer (2006) 480–4878. van Soest, D., de Greef, M., Sturm, J., Visser, A.: Autonomous color learningin an artificial environment. In: Proc. 18th Dutch-Belgian Artificial IntelligenceConferenc e, BNAIC’06, Namur, Belgium (2006) 299–3069. Visser, A., Sturm, J., Groen, F.: Robot companion localization at home and in theoffice. In: Proc. 18th Dutch-Belgian Artificial Intelligence Conferenc e, BNAIC’06,Namur, Belgium (2006) 347–35410. Slamet, B., Visser, A.: Purposeful perception by attention-steered robots. In: Proc.17th Dutch-Belgian Artificial Intelligence Conference, BNAIC’05, Brussels (2005)209–21511. Sturm, J.: An appearance-based visual compass for mobile robots. Master’s thesis,Universiteit van Amsterdam (2006)12. Mantz, F.: A behavior-based vision system on a legged robot. Master’s thesis,Delft University of Technology (2005)13. Slamet, B.A.: Attention steering in behavior-based vision. Bachelor’s thesis, Uni-versiteit van Amsterdam (2005)14. Pieterse, C.: Kleur invariantie voor de robocup challenge - onderzoek naar een be-lichtings invariante methode voor object herkenning. Bachelor’s thesis, Universiteitvan Amsterdam (2004)15. Esteban, I., de Greef, M., van Soest, D., Mahdi, A.: Cooperative robots: Expecta-tion and message driven behavior. Technical report, Universiteit van Amsterdam(2006)16. Mahdi, A., de Greef, M., van Soest, D., Esteban, I.: On joint actions for an aiboteam. Technical report, Universiteit van Amsterdam (2006)17. Hammoumi, W., Nedovic, V., Slamet, B., Valenti, R.: Improving self-localisationand behaviour for aibo’s soccer-playing robots. Technical report, Universiteit vanAmsterdam (2005)18. Mahdi, A., Onaindia, A.A., Yang, N., Zhan, Z.: Robot companion for eldery care.Technical report, Universiteit van Amsterdam (2005)19. Ottens, B., Abbo, A., van der Meer, P.J., Stienstra, M.: Aibo project 2004 - germanteam report. Technical report, Universiteit van Amsterdam (2004)20. de Oude, P., van Erven, T., Liem, J., van Kasteren, T.: Evaluation of cmpack’03.Technical report, Universiteit van Amsterdam (2004)21. Röfer, T., Laue, T., Müller, J., Bösche, O., Burchardt, A., Damrose, E., Gillmann,K., Graf, C., de Haas, T.J., Härtl, A., Rieskamp, A., Schreck, A., Sieverdingbeck,I., Worch, J.H.: B-human team report and code release 2009 (2009)22. Hester, T., Quinlan, M., Stone, P.: Generalized model learning for reinforcementlearning on a humanoid robot. In: IEEE International Conference on Robotics andAutomation (ICRA). (2010)

Dutch Nao Team: Team description paper: Standard Platform League: German Open 2010

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Dutch Nao Team: Team description paper: Standard Platform League: German Open 2010

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