scholarly journals Goalpost Detection Using Omnidirectional Cameras on ERSOW Soccer Robots

Jurnal INFORM ◽  
2020 ◽  
Vol 5 (2) ◽  
pp. 86-91
Author(s):  
Mochamad Mobed Bachtiar ◽  
Iwan Kurnianto Wibowo ◽  
Rakasiwi Bangun Hamarsudi
Keyword(s):  
Goal Area ◽  
Front Side ◽  
Soccer Robot ◽  
Omnidirectional Camera ◽  
Goal Detection ◽  
The Right ◽  
Robot Position ◽  
Soccer Robots

The ERSOW robot is a soccer robot developed by Politeknik Elektronika Negeri Surabaya, Indonesia. One important ability of a soccer robot is the ability to find the goal in the field. Goal Post is often used as a sign by soccer robots in a match. The mark is a reference robot in the field to be used in determining the strategy. By knowing the location of the goal in a field, the soccer robot can make the decision to maneuver in the match to get the right goal kick. There are various methods of detecting goal. One of them is to detect goal post using vision. In this study the radial search lines method is used to detect the goalposts as markers. Image input is generated from an omnidirectional camera. The goal area that is detected is the front side of the goal area. With experiments from 10 robot position points in the field, only 1 position point cannot detect the goal. The robot cannot detect the goal because what is seen from the camera is the side of the goal, so the front side of the goal area is not visible.Keywords— omnidirectional camera, vision, radial search lines, goal detection, ersow soccer robot

scholarly journals Goalpost Detection Using Omnidirectional Cameras on ERSOW Soccer Robots

Jurnal INFORM ◽  
2020 ◽  
Vol 5 (2) ◽  
pp. 86
Author(s):  
Mochamad Mobed Bachtiar ◽  
Iwan Kurnianto Wibowo ◽  
Rakasiwi Bangun Hamarsudi
Keyword(s):  
Goal Area ◽  
Front Side ◽  
Soccer Robot ◽  
Omnidirectional Camera ◽  
The Right ◽  
Robot Position ◽  
Soccer Robots

The ERSOW robot is a soccer robot developed by Politeknik Elektronika Negeri Surabaya, Indonesia. One important ability of a soccer robot is the ability to find the goal in the field. Goal Post is often used as a sign by soccer robots in a match. The mark is a reference robot in the field to be used in determining the strategy. By knowing the location of the goal in a field, the soccer robot can decide to maneuver in the match to get the right goal kick. There are various methods of detecting goals. One of them is to detect goal posts using vision. In this study, the radial search lines method is used to detect the goalposts as markers. Image input is generated from an omnidirectional camera. The goal area is detected on the front side of the goal area. With experiments from 10 robot position points in the field, only 1 position point cannot detect the goal. The robot cannot detect the goal because what is seen from the camera is the side of the goal, so the front side of the goal area is not visible.

scholarly journals PID Controller-based Object Tracking and Speed Control System for Wheeled Soccer Robot

2017 ◽  
Author(s):  
Indra Riyanto
Keyword(s):  
Control System ◽  
Pid Controller ◽  
Detection System ◽  
Speed Control ◽  
Dynamic State ◽  
Soccer Robot ◽  
Speed Control System ◽  
The Right ◽  
Static Conditions ◽  
Robot Position

This paper discussed about the detection system of ball objects and speed control system of wheeled robot football using PID controller. The object detection system uses behavior-based control methods based on the orientation of the robot position against the object position. The position of the robot is controlled to keep it perpendicular to the ball. When the position of the robot is perpendicular to the ball, the robot will move with a certain speed that is controlled by the PID controller based on the distance between the robot and the ball. Test results in static conditions (static balls) show the robot can detect the object of the ball, either when the position of the object perpendicular, to the right, or left of the robot. In testing the dynamic state (moving ball) with random directions, the robot can also move dynamically as the ball position changes.

LIE GROUP FORMULATION FOR ANALYSIS OF KICKING MOTION IN HUMANOID SOCCER ROBOTS

2008 ◽  
Vol 05 (03) ◽  
pp. 501-522
Author(s):  
LIANDONG ZHANG ◽  
CHANGJIU ZHOU
Keyword(s):  
Dynamic Stability ◽  
Lie Group ◽  
Soccer Robot ◽  
Zero Moment Point ◽  
Zero Moment ◽  
Compensation Approach ◽  
Soccer Robots

In this paper, we develop a general Lie group framework for analysis of kicking motion in humanoid soccer robots which aims to capture the multidimensional kicking information and hence to study how to develop more powerful and skilful kicking motion for humanoid soccer robots. To maintain dynamic stability while kicking is being performed, the zero-moment point (ZMP) is used to evaluate the performance of the humanoid kick. The proposed Lie-group-formulation-based compensation approach for force/torque sensing from the humanoid ankle has been implemented on, Robo-Erectus, our humanoid soccer robot. Humanoid kicking experiments have been conducted to verify the effectiveness of the proposed approach.

Artificial Intelligence Control Algorithm for the Steering Motion of Wheeled Soccer Robot

2019 ◽  
Vol 33 (10) ◽  
pp. 1959034 ◽  
Author(s):  
Xiaowei Xiong
Keyword(s):  
Artificial Intelligence ◽  
Control Algorithm ◽  
Steering Wheel ◽  
Dynamic Feedback ◽  
Steering Control ◽  
Soccer Robot ◽  
Artificial Neurons ◽  
Intelligence Control ◽  
Intelligent Model ◽  
Soccer Robots

In this paper, the artificial intelligence control algorithm for steering robot of steering wheel is studied. The steering movement of wheeled soccer robot is controlled by artificial intelligence control algorithm, and the steering movement is modeled and simulated. Firstly, the characteristics of artificial neurons are simulated and a similar control model is constructed to complete the simulation of football. The artificial intelligence control algorithm has a dynamic feedback item compared with the traditional intelligent model, which has a better effect on the steering control of the wheeled soccer robot. In this paper, artificial intelligence control algorithm is used to optimize the parameters of artificial intelligence control algorithm, and the output of control signal of each steering part of wheeled soccer robot is simulated in the experiment, and the control of the steering action of wheeled soccer robot by artificial intelligence control algorithm is verified by experiments. Then the artificial intelligence control algorithm forms the connection structure. This method provides a good reference for steering control of wheeled soccer robots.

3D MODELS OF HUMANOID SOCCER ROBOT IN USARSim AND ROBOTICS STUDIO SIMULATORS

2008 ◽  
Vol 05 (03) ◽  
pp. 523-546 ◽  
Author(s):  
EMANUELE MENEGATTI ◽  
GIOVANNI SILVESTRI ◽  
ENRICO PAGELLO ◽  
NICOLA GREGGIO ◽  
ANTONIO CISTERNINO ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Humanoid Robots ◽  
3D Models ◽  
Soccer Robot ◽  
Soccer Match ◽  
Virtual Models ◽  
And Robotics ◽  
Soccer Robots ◽  
Robot Platform

This paper describes our experience in the simulation of humanoid soccer robots using two general purposes 3D simulators, namely USARSim and Microsoft Robotics Studio. We address the problem of the simulation of a soccer match among two teams of small humanoid robots in the RoboCup Soccer Kid-Size Humanoid competitions. The paper reports the implementation of the virtual models of the Robovie-M humanoid robot platform in the two simulators. Robovie-M was the robot used by our team "Artisti" in the RoboCup 2006 competitions. This paper focuses on the procedures needed to implement the virtual models of the robot and in the details of the models. We describe experiments assessing the feasibility and the fidelity of the two simulators.

A Statuette in private Possession

1926 ◽  
Vol 27 ◽  
pp. 149-150
Author(s):  
H. W. Law
Keyword(s):  
Flat Surface ◽  
The Body ◽  
Front Side ◽  
Left Hand ◽  
The Right ◽  
Shoulder Blade ◽  
The Way

The statuette represented in the accompanying photograph is about 37·6 cm. in height. The left leg is broken off above the knee, and supported on a prop which forms part of the base. The right leg is only roughly chiselled at the back, which suggests that the front side alone was visible in the position in which the statuette was originally placed. The nature of the object on the right shoulder is uncertain. The upper portion is like a kind of boss, and the lower front portion resembles an animal's claw. It has been suggested that it represents a pedum; but the angle at which the missing portion (if there has been a fracture, which is not certain) would project puts some difficulty in the way of this hypothesis. If, however, the object on the shoulder was part of an animal's skin extended across the breast, all traces of that have disappeared; though in a spot over the right ribs the marble has been shaved away to a flat surface, against which some object may have rested. There are three similar shaved spots in other parts of the body: behind each shoulder-blade and on the nates, and these may well indicate the places at which the statuette touched a wall. The position of the shaved spots behind the shoulder-blades does not suggest that they were the starting-points of wings. A small portion of lead piping is inserted under the left arm in the back of the mask—apparently a Comic one—carried in the left hand. The marble is of a rough crystalline character, probably Parian or Naxian. In the absence of the head and of all certain attributes it is difficult to say whether the statuette represents an Eros or a Satyr.

Ball detection for KRSBI soccer robot using PeleeNet on omnidirectional camera

2020 ◽  
Author(s):  
Winarno ◽  
Ali Suryaperdana Agoes ◽  
Eva Inaiyah Agustin ◽  
Deny Arifianto
Keyword(s):  
Soccer Robot ◽  
Omnidirectional Camera ◽  
Ball Detection

scholarly journals Sistem Kontrol Robot Sepak Bola Beroda menggunakan Finite State Machine (FSM)

2021 ◽  
Vol 9 (2) ◽  
pp. 344
Author(s):  
MOHAMAD BINAWAN SATRIYO ◽  
KHAIRUL ANAM ◽  
MOHAMMAD AGUNG PRAWIRA NEGARA
Keyword(s):  
Light Intensity ◽  
Finite State Machine ◽  
State Machine ◽  
Soccer Robot ◽  
Straight Position ◽  
Mission Time ◽  
Finite State ◽  
Soccer Robots

ABSTRAKPerkembangan teknologi menuntut transisi alat yang berbasis manual menjadi otomatis. Hal ini tak terkecuali pada perkembangan robot, termasuk robot sepak bola. Robot ini mengalami perkembangan sangat pesat. Hal ini didukung dengan adanya Kontes Robot Sepak Bola Indonesia (KRSBI). Penelitian kali mengusulkan robot sepak bola beroda dengan omni-directional weel sebagai pergrakannya menggunakan Finite State Machine (FSM) sebagai metode kontrol untuk menjalankan misi yang ditentukan. Misi robot yang dikembangkan yaitu mencari bola (wander), mencari posisi lurus terhadap bola, mencari gawang, dan menendang bola. Robot ini menggunakan CMUCam5 sebagai sensor masukan untuk mendeteksi bola sebagai target bedasarkan warna dan jarak. Jarak yang digunakan yaitu antara 20 cm sampai 60 cm dengan sudut antara -40 derajat sampai 40 derajat dan intensitas cahaya antara 113 sampai 1213 lux. Implementasi FSM pada robot sepak bola beroda dengan 5 jenis percobaan mencapai tingkat keberhasilan yang bagus yaitu 86% dengan rata-rata waktu menjalankan misi 29.24 detik.Kata kunci: CMUCam5, Finite State Machine, Omni-directional wheel, Robot Sepak Bola ABSTRACTTechnological development demands a transition from manual to automatic tools. It includes soccer robots that have developed so rapidly. This development is supported by the Indonesian Football Robot Contest (KRSBI). This study proposes a wheeled soccer robot with Omni-directional weel as its movement using Finite State Machine (FSM) as a control to carry out the specified mission. The mission is wandering to seek the ball, looking for a straight position to the ball, looking for the goal, and kicking the ball. This robot uses CMUCam5 as an input to detect the ball as a target based on color and distance. The distance used is between 20-60 cm with an angle of -40 degree to 40 degree and light intensity between 113-1213 lux. The implementation of FSM on a wheeled soccer robot with five types of experiments achieved a good result of 86% with an average mission time of 29.24 seconds.Keywords: CMUCam5, Finite State Machine, Omni-directional weel, Wheeledsoccer robot

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