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  • 1
    Online Resource
    Online Resource
    Action Design of Lobbing Ball for Humanoid Robot Soccer
    Angle Publishing Co., Ltd. ; 2021
    In:  電腦學刊 Vol. 32, No. 5 ( 2021-10), p. 210-221
    Details
    In: 電腦學刊, Angle Publishing Co., Ltd., Vol. 32, No. 5 ( 2021-10), p. 210-221
    Abstract: Robot soccer is a classic research direction in the field of robotics. From the appearance of soccer robot, it is mainly divided into wheeled robot and humanoid robot. At present, humanoid robots and small group wheeled robots mainly compete on two-dimensional plane. Because of the small competitive dimension, the offensive and defensive tactics tend to be simple. In order to enhance the competitiveness and appreciation of humanoid. And complex motion devices based on human motion capture data (HMCD) are designed Human simulation has gradually become one of the effective means of robot design. In order to enhance the competitiveness and appreciation of humanoid, this paper innovatively designs a set of consistent kicking actions based on darwin-op2 robot, combined with HMCD method, realizes the effect of actively lobbing ball. Ideally, the robot can basically kick the ball above 35cm. Besides the robot can basically kick the ball above 30cm in practice, and the success rate is as high as 75%. It improves the competitiveness from two-dimensional to three-dimensional, which provides new ideas and schemes for attack and defense tactics and expands the dimension of competition. It also provides a new direction for the development of humanoid robot football in the future.
    Type of Medium: Online Resource
    ISSN: 1991-1599 , 1991-1599
    Uniform Title: Action Design of Lobbing Ball for Humanoid Robot Soccer
    URL: Article
    DOI: 10.53106/199115992021103205018
    Language: Unknown
    Publisher: Angle Publishing Co., Ltd.
    Publication Date: 2021
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  • 2
    Online Resource
    Online Resource
    Discontinuous Track Recognition System Based on PolyLaneNet for Darwin-op2 Robot
    Hindawi Limited ; 2022
    In:  Computational Intelligence and Neuroscience Vol. 2022 ( 2022-2-1), p. 1-10
    Details
    In: Computational Intelligence and Neuroscience, Hindawi Limited, Vol. 2022 ( 2022-2-1), p. 1-10
    Abstract: This paper proposes and demonstrates a single-line discontinuous track recognition system by associating the track recognition problem of a humanoid robot with the lane detection problem. The proposal enables the robot to achieve stable running on the single-line discontinuous track. The system consists of two parts: the robot end and the graphics computing end. The robot end is responsible for collecting track information and the graphics computing end is responsible for high-performance computing. These two parts use the TCP for communication. The graphics computing side uses PolyLaneNet lane detection algorithm to train the track image captured from the first perspective of the darwin-op2 robot as the data set. In the inference, the robot end sends the collected tracking images to the graphics calculation end and uses the graphics processor to accelerate the calculation. After obtaining the motion vector, it is transmitted back to the robot end. The robot end parses the motion vector to obtain the motion information of the robot so that the robot can achieve stable running on the single-line discontinuous track. The proposed system realizes the direct recognition of the first perspective image of the robot and avoids the problems of poor stability, inability of identifying curves and discontinuous lines, and other problems in the traditional line detection method. At the same time, this system adopts the method of cooperative work between the PC side and the robot by deploying the algorithm with high computational requirements on the PC side. The data transmission is carried out by stable TCP communication, which makes it possible for the robot equipped with weak computational controllers to use deep-learning-related algorithms. It also provides ideas and solutions for deploying deep-learning-related algorithms on similar low computational robots.
    Type of Medium: Online Resource
    ISSN: 1687-5273 , 1687-5265
    URL: Article
    DOI: 10.1155/2022/5431886
    Language: English
    Publisher: Hindawi Limited
    Publication Date: 2022
    detail.hit.zdb_id: 2388208-6
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