Hello, My name is Kensei Demura. I'm going to talk about my robots made in RoboCup. I have been working on RoboCup project since 2011. At my early ages, I was working on RoboCup Junior. These are the robots I made in 2011, when I was 7/8th grader. I studied about omni drive system, and implemented the embedded control system software and the robot hardware by myself. This robot was 3rd place at the RoboCup Junior 2011 Regional cup. I continued to enhance my robot. 3 great enhancement. I made my robot more lightweight. I developed a single motor ball kicker/dribbler system using ratchet drive. I made a positioning system using directional sensor and supersonic sensors. At 2012, I upgraded my robot computing unit, motors, and implemented realtime control. I changed the embedded computer of my robot, from PIC microcontrollers to AVR microcontrollers.(arduino) I made arduino middleware library of the communication system with the proprietary motor driver. I used cached sensor input data and update sensor data at few loops to achieve realtime control of the robot. I did a match with a Chinese company soccer robot. This robot ranked 16th place at the RoboCup Junior 2012 National Cup. At 2013, I enhanced my robot durability and design using CAD design and CNC machining. To achieve both durability and lightweight, I used locking bar mechanism, duralumin and polycarbonate for chassis. To reduce the shock coming to the microcontroller, I put a damper underneath the microcontroller. This robot ranked 16th place at the RoboCup Junior 2013 National Cup. From 2014, I'm working on RoboCup@home league. This is Happy Mini. Happy Mini is a happy autonomous home support for children and elderly. Happy Mini ranked 8th place in the world, in this July. I'm developing the Happy Mini artificial intelligence. I am going to tell Happy Mini's 3 main functionality. Happy Mini is the world first robot to read books. Happy Mini can recognize you, your gender, and where you are. Happy Mini can listen to your voice and chat with you. I made the system software to read books. I made the human recognition system of Happy Mini. I made the language understanding system and sound localization system. Also, Happy Mini can track you and understand your home terrain and make a map. I'm also working on the simulator of Happy Mini. That's all for my presentation. Thank you.

1. Robots made in RoboCup
Kensei Demura
@ken_demu

2. 2011 ~RoboCup Junior Soccer~

3. My first robot

5. Omni Drive System

6. Enhancement

8. Lightweight

10. Ratchet drive Kicker/Dribbler

12. Self-Positioning System

14. Robot Soccer Tactics

15. Christmas Design!!! :)

16. 2012 ~RoboCup Junior Soccer~

18. Enhanced Computing Unit
PIC → AVR(Arduino)

19. PID Controller

20. High power motor
16kgf・cm
1200rpm

21. Arduino original UART Middleware
library of proprietary motor driver

23. Data Caching & Realtime Control

24. Had a great match with Chinese
company robots! :)

25. Best 16
RoboCup Junior 2012 Japan Open

26. SICTIC2012
Award of Excellence

27. 2013 ~RoboCup Junior Soccer~

29. CAD Design/CNC Machining

30. Durable : Polycarbonate, Duralumin

32. Damper Shock Resist System

33. Locking Bar Fixing System

34. Better Ball Direction Estimation
Fuzzy logic
Discrete data interpolation
Vector representation

35. Best 16
RoboCup Junior 2013 Japan Open

36. SICTIC2013
Award of Excellence

37. Publication
● Tech blog
http://kendemu.blogspot.jp
● Source code
https://github.com/kendemu/KendemuRCJArdui
noProject

38. 2014 ~RoboCup @home~

40. Picture Book Reading A.I.

41. Human Recognition A.I.

42. Kodak 360 Camera ROS Driver

43. GPGPU Deep Neural Nets

44. Understanding voices/grammer

45. 3D/2D SLAM

46. Happy Mini Simulator

47. RoboCup 2015 9th
place

48. RoboCup 2016 8th
place

49. Source Code
https://github.com/demulab/