3D2Real: Simulation League Finals in Real Robots

Mayer, Norbert Michael; Boedecker, Joschka; Guerra, Rodrigo da Silva; Obst, Oliver; Asada, Minoru

doi:10.1007/978-3-540-74024-7_3

Cited by 10 publications

(8 citation statements)

References 5 publications

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“…Possible implementation of HMDP into a standardized software design and simulation environment (in this case 3D2Real [8]). The HMDP may serve at the same time as an interface for abstract motion description between agent and simulator as well as between agent and robot (see also [9]).…”

Section: Figmentioning

confidence: 99%

“…2). The details of the current state of the 3D Soccer Simulation League are discussed in publications that relate to the 3D2Real project [8,9]. The goal that is envisioned for the 3D2Real project is to have the finals of the soccer simulation league using real robots in the near future.…”

Section: Introductionmentioning

confidence: 98%

“…For this ambitious goal several steps are necessary in the next years to create the necessary infrastructure and tools. According to the proposed road map in [8], a technical challenge would be held at the RoboCup competitions to test the ability to use the agent code of SSL participants on a predetermined real robot. We propose also the development of a central parts repository (CPR, see also [18]).…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Robot motion description and real-time management with the Harmonic Motion Description Protocol

Mayer

Boedecker

Asada

2009

Robotics and Autonomous Systems

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Section: Figmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 98%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Robot motion description and real-time management with the Harmonic Motion Description Protocol

Mayer

Boedecker

Asada

2009

Robotics and Autonomous Systems

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“…However, it soon became apparent that while interesting in itself, this version of Sim-3D was lacking direct relevance to the long-term goal of playing soccer with humanoid robots. Indeed in their 2007 paper, Mayer et al [13] argued that the simulation league should embrace humanoid robots as early as possible. To this end, in 2007, Sim-3D transitioned to a more realistic and challenging humanoid model: the Soccerbot, based on the Fujitsu HOAP-2 robot 2 .…”

Section: Sim-3dmentioning

confidence: 99%

“…As Mayer et al [13] observe, it will become important to start integrating the various leagues in RoboCup; in the year 2050, one "league" will stand to summarize the progress made over the years. At this stage, humanoid robotics still faces a broad range of problems, chief among which is reliable bipedal locomotion.…”

Section: Experiences In Agent Developmentmentioning

confidence: 99%

Three Humanoid Soccer Platforms: Comparison and Synthesis

Kalyanakrishnan

Hester

Quinlan

et al. 2010

RoboCup 2009: Robot Soccer World Cup XIII

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Abstract. In this article, we provide an overview of three humanoid soccer platforms currently in use at RoboCup: 3D simulation, the humanoid Standard Platform League (SPL), and the Webots-based simulator released with the SPL. Although these platforms trace different historical roots, today they share the same robot model, the Aldebaran Nao. Consequently, they face a similar set of challenges, primary among which is the need to develop reliable and robust bipedal locomotion. In this paper, we compare and contrast these platforms, drawing on the experiences of our team, UT Austin Villa, in developing agents for each of them. We identify specific roles for these three platforms in advancing the overarching goals of RoboCup.

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HMDP: A New Protocol for Motion Pattern Generation Towards Behavior Abstraction

Mayer

Boedecker

Masui

et al. 2008

RoboCup 2007: Robot Soccer World Cup XI

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The control of more than 20 degrees of freedom in real-time is one challenge of humanoid robotics. The control architecture of an autonomous humanoid robot often consists of two parts, namely a real-time part that has direct access to the motors or RC servos, and a non-real-time part, that controls the higher-level behaviors and sensory information processing such as vision and touch. As a result motion patterns are developed separately from the other parts of the robots behavior. In research, particularly when including developmental processes, it is often necessary that the design or the evolution of motion patterns is integrated in the overall development of the robot's behavior. This is indeed one of the main principles of the embodied intelligence paradigm. The main aim of this work is to define a flexible way of describing motion patterns that can be passed to the motion controller which in turn executes them in real-time. As a result, the Harmonic Motion Description Protocol (HMDP) is presented. It allows the motions to be described as vectors of coefficients of harmonic motion splines. The motion splines are expressed as human-readable ASCII strings that can be passed as a motion stream. Flexibility is achieved by implementing the principle of superposition of several motion patterns. In this way also closed loop control is achievable in principle. Moreover, the HMDP can be implemented into the (deleted for blind review) project of the 3D soccer simulation league as a standard way to communicate motion patterns between the agent and the simulation interface and/or real humanoid robots.

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3D2Real: Simulation League Finals in Real Robots

Cited by 10 publications

References 5 publications

Robot motion description and real-time management with the Harmonic Motion Description Protocol

Robot motion description and real-time management with the Harmonic Motion Description Protocol

Three Humanoid Soccer Platforms: Comparison and Synthesis

HMDP: A New Protocol for Motion Pattern Generation Towards Behavior Abstraction

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