RoboCup: Not Only a Robotics Soccer Game but also a New Market Created for Future

Transcription

1 RoboCup: Not Only a Robotics Soccer Game but also a New Market Created for Future Kuo-Yang Tu Institute of Systems and Control Engineering National Kaohsiung First University of Science and Technology

2 Outlines A Brief History of Robotics RoboCup: a Robotics Soccer Game Some Technique Notes on RoboCup Some Notes for RoboCup Future Discussions

3 A Brief History of Robotics Hollywood s imagination

4 A Brief History of Robotics Types of Robots: Robot Manipulators Mobile Manipulators

5 A Brief History of Robotics Types of Robots: Locomotion

6 A Brief History of Robotics 1962 Unimation, Inc. was formed, (Unimation stood for "Universal Automation") 1968 Unimation takes its first multi-robot order from General Motors. 1966~1972 "Shakey," the first intelligent mobile robot system was built at Stanford Research Institute, California.

7 A Brief History of Robotics Shakey (Stanford Research Institute) the first mobile robot to be operated using AI techniques Simple tasks to solve: To recognize an object using vision Find its way to the object Perform some action on the object (for example, to push it over)

8 A Brief History of Robotics 1969 Robot vision, for mobile robot guidance, is demonstrated at the Stanford Research Institute. Unimate robots assemble Chevrolet Vega automobile bodies for General Motors General Motors becomes the first company to use machine vision in an industrial application. The Consight system is installed at a foundry in St. Catherines, Ontario, Canada.

9 A Brief History of Robotics Stanford Cart Equipped with stereo vision. Take pictures from several different angles The computer gauged the distance between the cart and obstacles in its path

10 A Brief History of Robotics 1978 The first PUMA (Programmable Universal Machine for Assembly) robot is developed by Unimation for General Motors IBM enters the robotics field with its 7535 and 7565 Manufacturing Systems Westinghouse Electric Corporation bought Unimation, Inc., which became part of its factory automation enterprise. Westinghouse later sold Unimation to Staubli of Switzerland.

11 A Brief History of Robotics: Installed Industrial Robots Japan take the lead, why? Shortage of labor, high labor cost

12 A Brief History of Robotics Much bigger markets Field robots Military applications Space exploration Service robots Cleaning robots Medical robots Entertainment robots

13 A Brief History of Robotics Industrial robots application 4D environments Dangerous, Dirty, Dull, and Difficult 4A tasks Automation, Augmentation, Assistance, and Autonomous

14 A Brief History of Robotics However, What service is service robot designed for? How to create enjoyable entertainment robots? Question Safety, reliability, enjoyment, Game play is a good way for demonstration RoboCup: Sony AIBO

15 A Brief History of Robotics AIBO Six emotions: joy, sadness, anger, surprise, fear, discontent Four instincts: the desire to interact with people, to search for favorite objects, to move around, and to re-charge its battery

16 A Brief History of Robotics RoboCup: competition of robotics soccer After IBM Deep Blue won Kasparov, human grand master chess. A dream: A team of humanoid robots can win against against the human world champion team in soccer by world update input control Chess static turn by turn symbolic central Soccer dynamic real time continuous distributed

17 RoboCup: a Robotics Soccer Game Another competition: FIRA Leagues of RoboCup Soccer Simulation Small size Middle size 4-legged (Sony AIBO) Humanoid

18 RoboCup: a Robotics Soccer Game RoboCup Rescue Rescue robots Simulation RoboCup Junior

19 RoboCup: a Robotics Soccer Game Famous teams in small size league Carnegie Mellon University: CMUDragon Cornell University: BigReds Free University: FU-Fighters Queensland University: RoboRoos Nee Ann Polytechnic: LuckyStar

20 RoboCup: a Robotics Soccer Game Recent champion

21 RoboCup: a Robotics Soccer Game Carnegie Mellon University: CMUDragon Attack Team formation motion1 Team formation motion2 Team formation motion3

22 RoboCup: a Robotics Soccer Game Cornell University: BigReds Highlight 2003 Free University: FU-Fighters Vision award in RoboCup2003 Engineering award in RoboCup2004 Champion in RoboCup2004 Highlights 2004

23 RoboCup: a Robotics Soccer Game Humanoid league Osaka University: ViSion Kick, Walking, On one line, Stand up1, Stand up2 Auto kick

24 RoboCup: a Robotics Soccer Game The league organized by first time in RoboCup American Open 2005: Segway league In Snow Go to ball Pass Tele-operate Demonstration for RoboCup

25 RoboCup: a Robotics Soccer Game Famous Humanoid robots ASIMO PINO morph Qrio Almost all made in Japan A history likes the development of industrial robots

26 Some Technique Notes on RoboCup A control loop of robotics soccer

27 Some Technique Notes on RoboCup A control loop of robotics soccer Host Computer Camera Wireless communication Soccer Robots

28 Some Technique Notes on RoboCup Robot performance Remark: 1999: two wheels 2000~2001: three wheels 2002~2004: four wheels

29 Some Technique Notes on RoboCup A four-wheel robot (Cornell University)

30 Some Technique Notes on RoboCup Kinematics model of a two-wheel robot: Relation between the control input and speed of wheels Kinematic equation θ Nonholonomic Constraint o 90 θ x & sin θ y& cosθ = 0

31 Some Technique Notes on RoboCup Kinematics model of a three-wheel robot Two type f wheels

32 Some Technique Notes on RoboCup Kinematics model of a three-wheel robot Longitudinal (a) and lateral (b) assemblies

33 Some Technique Notes on RoboCup Kinematics model of a three-wheel robot Inverse kinematics equations: ω ω V 1 1 = (sin θ 3 cosθ) + 2R ω2 = sin θ + 2R 2R V 2 ψ& L R ψ& L R V 3 3 = (sin θ + 3 cosθ) + ψ& L R

34 Some Technique Notes on RoboCup Our robots

35 Some Notes for RoboCup Future RoboCup2002 in Fukuoka visitors ( ) A biggest market is creating now Humanoid is being on sale Hiroaki Kitano (President of RoboCup) CellDesigner i, ROBOT ( 機械公敵 ) coming in our society will come true.

36 Discussions RoboCup becomes a competition activity Growing up every year RoboCup provides various of platform Demonstrate various of service and entertainment robots RoboCup dream Ticket income

37 Discussions RoboCup is a very well platform Segway league demonstrates their tactics in games Service and entertainment are created for enjoying and interesting Localizing: be worth to effort Even they stimulus human pleasure. Open problems How to let people enjoy How to make more money