16. Name of Team: CIT Brains
RoboCup2012 in Mexico Soccer Humanoid League
Kid Size Technical Challenge 1st
Kid Size Soccer 3on3 2nd
Teen Size Technical Challenge 2nd
Teen Size Soccer 2on2 2nd
Result of RoboCup2012
24. Technologies of Soccer Robot
•Mechanism
•Electronics
•Computer
(Recognition and Control)
25. Technologies of Soccer Robot
•Mechanism
•Electronics
•Computer
(Recognition and Control)
We developed many robots
considering system design.
26. Technology of Soccer Robot
•Mechanics
•Light Weight & Strong
•Impact Absorption
•Center of Gravity
•Margin of Error
•Maintenance
…
27. Technology of Soccer Robot
•Mechanism •Light Weight& Strong
Motor should generate the
torque to keep standing
→ Light Weight
Falling → Strong
} Tradeoff
33. Technology of Soccer Robot
•Electronics
•Computational Power
•Size
•Energy Conservation, Heat
•Robustness
34. Fig. Developed Humanoid (Dynamo)
Weight 3.9 kg (Including Batteries)
Height 590 mm
Velocity
(Forward)
0.4 m/s (maximum)
CPU Board Main: COMMEL LP170C
(Intel Atom)
Sub: Hajime Robot HC5
OS Windows XP professional
Servo Motor Futaba RS405CB x 18
Battery Hyperion HP-LG325-5000-3S
(11.1V, 5000mAh ) 25C x 1
Table Specification of the Soccer Robot
Technology of Soccer Robot
36. Servo motors x 18
RS485
Transceiver
CPU
Renesas
SH2A/7211
RS232C
Transceiver
EEPROM
AT24C1024
1MBit
SDRAM
8MByte
(16Bit)
Circuit for
Walking Control
A/D
Converter
Gyro Sensor x 2
Sparkfun IMU5
Gyro Sensor
Silicon Sensing System
(Yaw Axis)
Circuit for Main Process
(Ex. Image Recognition, Strategy,…)
RS485
460.8kbps
CommandStatus Data
SCIF1
SCIF2,3
1ch2ch
1000Mbps
Ethernet
Futaba
RS405CB
Image
Data
RS232C 115200bps
CPU
AXOMTEC
PICO820
Atom Z530
OS: Windows
DRAM
2GB
USB
USB-Serial
Converter
USB Camera
x 2
Wirelss LAN
IEEE802.11
a/b/g
Logicool
C905m
Acceleration
Sensor
ADXL330
Fig. Electrical Circuit Configuration
37. Servo motors x 18
RS485
Transceiver
CPU
Renesas
SH2A/7211
RS232C
Transceiver
EEPROM
AT24C1024
1MBit
SDRAM
8MByte
(16Bit)
Circuit for
Walking Control
A/D
Converter
Gyro Sensor x 2
Sparkfun IMU5
Gyro Sensor
Silicon Sensing System
(Yaw Axis)
Circuit for Main Process
(Ex. Image Recognition, Strategy,…)
RS485
460.8kbps
CommandStatus Data
SCIF1
SCIF2,3
1ch2ch
1000Mbps
Ethernet
Futaba
RS405CB
Image
Data
RS232C 115200bps
CPU
AXOMTEC
PICO820
Atom Z530
OS: Windows
DRAM
2GB
USB
USB-Serial
Converter
USB Camera
x 2
Wirelss LAN
IEEE802.11
a/b/g
Logicool
C905m
Acceleration
Sensor
ADXL330
Fig. Electrical Circuit Configuration
Recognition
Decision Making
Walking Control
38. Servo motors x 18
RS485
Transceiver
CPU
Renesas
SH2A/7211
RS232C
Transceiver
EEPROM
AT24C1024
1MBit
SDRAM
8MByte
(16Bit)
Circuit for
Walking Control
A/D
Converter
Gyro Sensor x 2
Sparkfun IMU5
Gyro Sensor
Silicon Sensing System
(Yaw Axis)
Circuit for Main Process
(Ex. Image Recognition, Strategy,…)
RS485
460.8kbps
CommandStatus Data
SCIF1
SCIF2,3
1ch2ch
1000Mbps
Ethernet
Futaba
RS405CB
Image
Data
RS232C 115200bps
CPU
AXOMTEC
PICO820
Atom Z530
OS: Windows
DRAM
2GB
USB
USB-Serial
Converter
USB Camera
x 2
Wirelss LAN
IEEE802.11
a/b/g
Logicool
C905m
Acceleration
Sensor
ADXL330
Fig. Electrical Circuit Configuration
Potentiometer
Thermal Sensor
Sensors
1)CCD Camera
2)Acceleration
3)Gyro
4)Potentiometer
5)Thermal
6)Battery
39. Technology of Soccer Robot
•Computer
•Walking Control
•Recognition
•Decision Making
•System Design
40. Technology of Soccer Robot
•Computer
•Walking Control
•Recognition
•Decision Making
•System Design
50. Example of Python Program
def sample_2search(robot):
ball = robot.GetLocalPos(robot.HLOBJECT_BALL, robot.HLCOLOR_BALL)
if len(ball) == 0:
return
x, y, the = ball[0]
angle = math.degrees(math.atan2(y,x))
robot.PanDeg(angle)
Source code
Tracking the ball with rotating head
53. Developed Functions
Real-time Image Processing
Self-localization
Prediction
Sensor Fusion
Multi Robot Control
Robot Command System
Walking Algorism
Path Planning
Obstacle Avoidance
Stable System
→ We are studying through the RoboCup
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