Www.robo-erectus.org Development of Humanoid Soccer Robots Dr Changjiu Zhou School of Electrical & Electronic Engineering Singapore Polytechnic [email protected]

Development of Humanoid Soccer Robots

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www.robo-erectus.org

Dr Changjiu ZhouDr Changjiu ZhouSchool of Electrical & Electronic EngineeringSchool of Electrical & Electronic Engineering

Singapore PolytechnicSingapore [email protected]@sp.edu.sg


Development of Humanoid Development of Humanoid Soccer RobotsSoccer Robots


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2002 FIFA World Cup Final

BrazilGermany

20?? FIFA World Cup Final

Humans XXHumanoids XX

When?

Our Dream…

Brazil vs. Robo-Erectus

Humans vs. Humanoids


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By the year 2050, develop a team of fully autonomous humanoid robots

that can win against the human world soccer champions.

©AP Photo

Humanoid League


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The Robo-Erectus Project in Singapore Polytechnic

Robo-Erectus: Humanoid Soccer Robots


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1st Place, Free Performance, RoboCup Humanoid League 20032nd Place, Humanoid Walk, RoboCup Humanoid League 20023rd Place, FIRA HuroSot 2002

Robo-Erectus at Present


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Introduction

Overview of Humanoid League

Development of Robo-Erectus

Basic Research Issues in Humanoid Soccer Robotics

Conclusions - Where Are We Going?

Outline


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Soccer robots at ARICC, Singapore Polytechnic

RoboCup at Present


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Future of RoboCup

©RE Artists

Wai Yin and Phyu Phyu.


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©RE Artists

Wai Yin and Phyu Phyu.

Dream…


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FIRA HuroSot 2002

• Robot dash

• Penalty kick

• Obstacle run

• H-50

• H-80

• H-150

FIRA HuroSot


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FIRA HuroSot – Robot Dash

Robo-Erectus at FIRA HuroSot 2002


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FIRA HuroSot - Penalty Kick

Robo-Erectus at FIRA HuroSot 2002


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FIRA HuroSot - Obstacle Run


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• H-40 Class

• H-80 Class

• H-120 Class

RoboCup Humanoid League• Stand on one leg

• Walk

• Penalty Kick

• Free Performance

• 1 vs. 1


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Humanoid Walk

Humanoid League: Walk


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Humanoid Walk

Humanoid League: Walk


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Class(cm)

Name of team

Country1st

time2nd time

3rd time

Total time

1st 80 Nagara Japan 1'24" 1'01" 1'04" 3'29"

2nd 40Robo-Erectus

Singapore 1'10" 1'42" 0'59" 3'51"

3rd 40 Foot-Prints Japan 3'29" 1'49" 3'03" 8'21"

4th 80 The Ninja Japan 3'48" 1'25" 4'27" 9'40"

5th 80 Senchans Japan 3'53" 3'37" 1'35" 9'05"

Humanoid Walk 2002


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Humanoid League at Present

Robot vs Robot Human vs Robot


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Introduction





Outline


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1996-1998 1999-2000 2000-2001

Development of the Robo-Erectus (1)


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RE40I – Humanoid Soccer Robot, 2002

z

y

x

yaw pitch

row


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Development of Robo-Erectus (3)

RE40II RE40I RE40I (PDA) RE50II


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RE40II, 2003


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RE Team at Humanoid League, Padova, Italy, July 2003


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RE25I and RE40II


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RE25I RE40II RE50II RE80II

HeightHeight 25 cm 40 cm 40 cm 80 cm

WeightWeight 1 kg 3 kg 4 kg 7 kg

Total DOFTotal DOF 10 22 22 22

DOF arrangementDOF arrangement Legs – 5 x 2 Neck – 2Arms – 4 x 2Legs – 6 x 2

Neck – 2Arms – 4 x 2Legs – 6 x 2

Neck – 2Arms – 4 x 2Legs – 6 x 2

SensorsSensors accelerometers, force sensors, gyros, range sensors and etc.

VisionVision stereo camera

Controller Controller Multi-control mode: (1) PC; (2) Microcontroller; (3) PDA; (4) Wireless

PowerPower NiMH batteries

Robo-Erectus Family


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4 force sensing sensors for each foot

Accelerometers and gyros

Camera

Configuration of Robo-Erectus (H/W)

IR and Ultrasonic sensors

Compass


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Schematic diagram of the hierarchical control system

PathPlanning

Gaitsynthesis

Jointcontroller

Humanoidrobot

Potentiometers/encoders

Localmotion

planning

Range sensors/gyros/forcesensors,...

Vision

Globalmotion

planning

Configuration of Robo-Erectus (S/W)

NavigationWalking Control

Actuator Control


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Example: Gait Planning

Y

Z

X

Lao

Ds

L

Qs

Qf

Qb

Hao

Lan

Lab Laf

Lthigh

Lshank

Lhip

t=k*Tc+ Td Tm Tc


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Introduction





Outline


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Intelligence

Perception

Communication

Power Supply

Manipulation

Bipedal Walking

Material

Research Issues of Humanoid Robotics


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Scientific Challenges

• Materials

• Locomotion

• Sensor fusion

• High-level cognitive system

• Team coordination

Basic Research Issues


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• High-level cognitive systems: issues of brain and cognitive science; gesture recognition, …

• Real-time 3D recognition must work outdoors in unconstrained lighting condition.

• Safety of the human/humanoid players?

• …

Challenges (example)


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Kitano and Asada (1998)

Benchmark of the Humanoid League


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Introduction



Control and Learning in Humanoid Walk and Kick


(Humanoid League Roadmap and Challenges)

Outline


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Collaboration between HL and other leagues

SS

L

MS

L

Leg

ge

d

Re

scue

Re

scue

S

imu

Sim

uL

Junior

HL

Intelligence √ √ √ √ √ √ √ √Perception √ √ √ √ √ √Communication √ √ √ √ √ √ √ √Power Supply √ √ √ √ √ √Manipulation √ √ √ √Bipedal Walking √Material √ √


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Roadmap: Technical Issues41-50 yrs Artificial soccer-player

31-40 yrs

21-30 yrs

11-20 yrs

6-10 yrs Run Passing Human-like gripping

6 hrs duration

Body and natural language processing

Navigation in human environ-ments

Task understan-ding

1-5 yrs Jump, dynamic walk

Moving ball

Forecas-ting movement

Today Static walk

Station-ary ball

Walk Kick Manipu-lation

Power Commu-nication

Percep-tion

Intelli-gence


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Humanoid Walk• Current

– Basic walking patterns (humanoid walking pattern library)

• Forward, Backward, Side, Turn, …• Variable stepsize, variable speed, …

– Online gait generating– Online footprint planning

• Near future– Jump

• Artificial muscles• Flexible joints

– (True) dynamic walk– Run


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Humanoid Kick

• Current– Basic kicking patterns (humanoid kicking

pattern library)• Stationary ball

• Near future– Moving ball– Passing– New ways of ball manipulation

• Playing the ball in 3D


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Humanoid Challenges

• To implement a set of biped walking and kicking skills that can be integrated in humanoids

• To coordinate perception and locomotion

• To integrate the soccer-playing skills in a humanoid


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Humanoid League Challenges• 2004-

– Balancing challenge– Passing challenge– Obstacle walk challenge

• 2005-– 1 vs 1

• Object following• Multiple objects tracking

• 2007-– 2 vs 2

• Collision avoidance• Safety issue

• 2010-– Start cognitive issues

• Coordination of perception and locomotion• Integration


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Where Should Humanoid League Go?

• Collaboration with other leagues– Small-size Humanoid League (SHL)

• Global vision?• To focus on walking and kicking issues

– Mid-size Humanoid League (MHL)• Local vision• To focus on integration

• Humanoid simulation


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References

• H. Kitano and H. Asada, “The RoboCup humanoid challenge as the millennium challenge for advanced robotics,” Advanced Robotics 13(8) (2000) 723-736.

• C. Zhou and Q. Meng, “Dynamic balance of a biped robot using fuzzy reinforcement learning agents,” Fuzzy Sets and Systems 134(1) (2003) 169-187.

• C. Zhou, P.K. Yue, Z. Tang, Z. Sun, “Development of Robo-Erectus: A soccer-playing humanoid robot,” Proc. IEEE-RAS Intl. Conf. on Humanoid Robots, CD-ROM, 2003.

• http://www.ais.fraunhofer.de/robocup/HL2004/• http://www.robocup.org/


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Acknowledgements

• Staff Member

P.K. Yue, F.S. Choy, Nazeer Ahmed

M.F. Ercan, Mike Wong, H. Li• Research Associate

Z. Tang (Tsinghua U.), J. Ni (Shanghai Jiao Tong U.)• Technical Support Officer

H.M. Tan, W. Ye• Students

P.P. Khing, H. W. Yin, H.F. Lu, H.X. Tan, J.X. Teo,

Stephen Quah, H.M. Tan, Y.T. Tan


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Thanks!

Dr Changjiu ZhouDr Changjiu ZhouSchool of Electrical and Electronic EngineeringSchool of Electrical and Electronic Engineering

Singapore PolytechnicSingapore [email protected]@sp.edu.sg

www.robo-erectus.orgwww.robo-erectus.org

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Www.robo-erectus.org Development of Humanoid Soccer Robots Dr Changjiu Zhou School of Electrical & Electronic Engineering Singapore Polytechnic [email protected]