Optic Flow Based Skill Learning for a Humanoid to Trap, Approach to, and Pass a Ball

Ogino, Masao; Kikuchi, Masatoshi; Ooga, Jun'ichiro; Aono, Mitsuko; Asada, Minoru

doi:10.1007/978-3-540-32256-6_26

Cited by 9 publications

(6 citation statements)

References 1 publication

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“…Afterwards, it was able to get up again. Another highlight of last year's competition was the passing demonstration given by two Hoap-2 robots of team Senchans [15], shown in Fig. 3.…”

Section: Behavior Controlmentioning

confidence: 99%

Humanoid Soccer Robots (Humanoide Fußballroboter)

Behnke¹

2005

It - Information Technology

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SummaryHumanoid robots are enjoying increasing popularity as a research tool. As step towards the long-term goal of winning against the FIFA world champion, the RoboCup Federation added in 2002 a league for humanoid robots to its annual soccer competitions. In this paper, the Humanoid League competitions that took place so far are reviewed. The different approaches for the design of robot hardware and the software for perception and behavior control of soccer playing humanoid robots are discussed. The paper concludes with an outlook to the future of the RoboCup Humanoid League.

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“…Afterwards, it was able to get up again. Another highlight of last year's competition was the passing demonstration given by two Hoap-2 robots of team Senchans [15], shown in Fig. 3.…”

Section: Behavior Controlmentioning

confidence: 99%

Humanoid Soccer Robots (Humanoide Fußballroboter)

Behnke¹

2005

It - Information Technology

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“…Lately, several companies have announced the commercial availability of various humanoid robot prototypes such as Sony QRIO, Fujitsu HOAP, ZMP NUVO, and Honda ASIMO. The ability of these bipedal humanoid robots to step over and onto obstacles makes them ideally suited for environments designed for humans [1]. They have been attracting many researchers due to their performance of human-like behaviors [1][2][3].…”

Section: Introductionmentioning

confidence: 99%

“…The ability of these bipedal humanoid robots to step over and onto obstacles makes them ideally suited for environments designed for humans [1]. They have been attracting many researchers due to their performance of human-like behaviors [1][2][3]. As the robot body has many degrees of freedom, the robot shape and its available actions are approximated for finding solutions efficiently [2,4].…”

Section: Introductionmentioning

confidence: 99%

Online motion planning for HOAP-2 humanoid robot navigation

Elmogy

Habel

Zhang

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Autonomous robot navigation is becoming an increasingly important research topic for mobile robots. In the last few years, significant progress has been made towards stable robotic bipedal walking. This is creating an increased research interest in developing autonomous navigation strategies which are tailored specifically to humanoid robots. Efficient approaches to perception and motion planning, which are suited to the unique characteristics of biped humanoid robots and their typical operating environments, are receiving special interest. In this paper, we present a time-efficient motion planning system for a Fujitsu HOAP-2 humanoid robot. The sampling based algorithm is used to provide the robot with minimal free configuration space which is sampled to extract the robot path. For collision detection, a cylinder model is used to approximate the trajectory for the body center of the humanoid robot during navigation. It calculates the actual distances required to execute different actions of the robot and compares them with the distances to the nearest obstacles. The A* search algorithm is then implemented to find smooth and low-cost footstep placements of the humanoid robot within the resulting configuration space. The proposed hybrid algorithm reduces searching time and produces a smoother path for the humanoid robot at a low cost.

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“…Hoap-2 [16] or Honda Asimo [8]. Some teams purchased servo-driven commercial robots or robot kits, e.g.…”

Section: Introductionmentioning

confidence: 99%

“…Afterwards, VisiON got up without help. Another highlight of the 2004 competition was the passing demonstration between two Hoap-2 robots of team Senchans A [16].…”

Section: Introductionmentioning

confidence: 99%

Playing Soccer with RoboSapien

Behnke

Müller

Schreiber

2006

RoboCup 2005: Robot Soccer World Cup IX

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Abstract. Due to limited availability of humanoid robots and the high costs involved, multi-agent experiments with humanoid robots have been at least difficult so far. With the introduction of RoboSapien, a low-cost humanoid robot developed for the toy market, this situation has changed. This paper describes how we augmented multiple RoboSapiens to obtain a team of soccer playing humanoid robots. We added a Pocket PC and a color camera to the robot base to make it autonomous. For a team of these augmented RoboSapiens, we implemented computer vision and self localization. We designed basic soccer skills, such as approaching the ball, dribbling the ball towards the goal, and defending the goal. We set up a soccer field and played test games in our lab to evaluate the system. The paper reports experiences made during these soccer matches as well as results on a scoring task. We also tested this system at RoboCup German Open 2005, where we played soccer matches against the Brainstormers Osnabrück, who also used augmented RoboSapiens.

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Optic Flow Based Skill Learning for a Humanoid to Trap, Approach to, and Pass a Ball

Cited by 9 publications

References 1 publication

Humanoid Soccer Robots (Humanoide Fußballroboter)

Humanoid Soccer Robots (Humanoide Fußballroboter)

Online motion planning for HOAP-2 humanoid robot navigation

Playing Soccer with RoboSapien

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