Enhancing AIBO Soccer Skills: Progress and Challenges
This document outlines the project aimed at enabling AIBOs to play soccer, primarily with one or two units. The current setup involves one AIBO as a striker and potentially using a Roomba as a goalkeeper while awaiting the arrival of a second AIBO. It details the techniques involved, such as basic motion sequences for kicking, holding, and dribbling. Progress includes developing effective kicking styles, improving ball recognition, and localization strategies. Future work aims to refine motion sequences and enhance game strategy.
Enhancing AIBO Soccer Skills: Progress and Challenges
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Presentation Transcript
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
V ω 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
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
Future Work • Compute the coordinates of the ball • Localization by recognizing markers • Game strategy • More fancy motion sequence, if time permits • Defense!
