Mini-RoboCup

Huai-Ping Lee and Lei Wei

Introduction

• Goal: let AIBOs play soccer– But we only have one (or two) AIBO now– Perhaps one AIBO as striker and the other

one as goal keeper

•We hope the black AIBO will come back soon… otherwise we’ll have to use roomba as goal keeper

Techniques Involved

• Basic motion sequences– Kicking, holding, dribbling, saving, etc.

• Vision– Recognizing the ball, the goal and some

markers on the field

• Localization– Knowing where it is on the field

Current Progress

• Motion sequence for kicking– By editing joint angles and its duration (time

consuming!)• Like key-framing• ControllerGUI in Tekkotsu can help us to get joint angles

– Diving is the most effective kicking style (video)– Also need a carpet that is soft enough to let it dive

safely– Other kicking methods can kick toward different

directions, but not accurate

Current Progress

• Motion sequence for holding the ball and turning toward the goal– Turn, move to left or right, and move

backward at the same time to make the head always point to the ball (video)

– Hope to add motions of front legs and the head to protect the ball V

ω

Current Progress

• We can use Easytrain to let it recognize new things– The tennis ball we used is too small and has

the same color as the goal• We need the size of a baseball, but lighter and with

a bright color• Of course the AIBO pink ball is the best

– Please tell us if you have one– $15.00 on eBay

EasyTrain

Future Work

• Compute the coordinates of the ball

• Localization by recognizing markers

• Game strategy

• More fancy motion sequence, if time permits

• Defense!