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An attempt to foster intelligent robotics research An attempt to foster intelligent robotics research by providing a standard problemby providing a standard problem
Why RoboCup? (I)Why RoboCup? (I)
Landmark Project:Landmark Project: to set a goal high enough so that a series of to set a goal high enough so that a series of
technical breakthroughs is necessary to technical breakthroughs is necessary to accomplish the taskaccomplish the task
this set of technologies should form the this set of technologies should form the foundation of a next generation of industriesfoundation of a next generation of industries
widely appealing and excitingwidely appealing and exciting
Ultimate Goal Ultimate Goal To get a win against the human world cup To get a win against the human world cup
champion team by a team of 11 humanoidschampion team by a team of 11 humanoids
Why RoboCup? (II)Why RoboCup? (II) Standard Problem:Standard Problem:
a systematic approach to promote research a systematic approach to promote research using common domain, soccer!using common domain, soccer!
Comparison with “Chess Problem”Comparison with “Chess Problem”
Chess Chess RoboCupRoboCup
Environment Environment Static Static DynamicDynamic
State ChangeState Change Turn taking Turn taking Real timeReal time
Info. accessibilityInfo. accessibility Complete Complete IncompleteIncomplete
Sensor ReadingsSensor Readings Symbolic Symbolic Non-symbolicNon-symbolic
Control Control Central Central Distributed Distributed
The First Robot World Cup Soccer Games and The First Robot World Cup Soccer Games and Conferences (RoboCup-97) was held in Conferences (RoboCup-97) was held in conjunction with IJCAI-97 (International Joint conjunction with IJCAI-97 (International Joint Conference on Artificial Intelligence) at Nagoya, Conference on Artificial Intelligence) at Nagoya, Japan from August 23 - 29, 1997.Japan from August 23 - 29, 1997.
44 ２ ２ teams from 10 nations around the world: teams from 10 nations around the world: Germany, Japan, USA, France, Italy, Spain, Germany, Japan, USA, France, Italy, Spain, Australia, Finland, Canada, and Sweden.Australia, Finland, Canada, and Sweden.
5 teams in MSL, 4 teams in SSL, and 38 teams 5 teams in MSL, 4 teams in SSL, and 38 teams in Simulation league.in Simulation league.
Small Size league:Small Size league: A table tennis table, an A table tennis table, an orange golf ball, and global vision..orange golf ball, and global vision..
Middle Middle Size league:Size league: 3X3 table tennis tables, an 3X3 table tennis tables, an official soccer ball, and local vision..official soccer ball, and local vision..
Legged league: Legged league: Sony AIBO Type robots, 4 on 4.Sony AIBO Type robots, 4 on 4. Humanoid league: Humanoid league: Four classed according to Four classed according to
the size. One leg standing, walk, PK, and free the size. One leg standing, walk, PK, and free stylestyle
Single remote camera Single remote camera multiple remore cameras multiple remore cameras
Non-holonomic vehicle Non-holonomic vehicle Holonomic Holonomic (omnidoirectional) vehicle(omnidoirectional) vehicle
Shooting by driblling or pushing Shooting by driblling or pushing kicking device kicking device
Individual play Individual play high level team play high level team play
Wall to keep the ball inside of the field Wall to keep the ball inside of the field removed! removed!
Field has become larger and larger.. Field has become larger and larger..
Normal camera Normal camera omnidirectional camera omnidirectional camera
Non-holonomic vehicle Non-holonomic vehicle Holonomic Holonomic (omnidoirectional) vehicle(omnidoirectional) vehicle
Shooting by driblling or pushing Shooting by driblling or pushing kicking device kicking device
Individual play Individual play high level team play high level team play
Wall to keep the ball inside of the field Wall to keep the ball inside of the field removed! removed!
Field has become larger and larger.. Field has become larger and larger..
1998
Omni-directional VehiclesOmni-directional Vehicles
2000
Mirror Design to reduce the deformation Mirror Design to reduce the deformation
Views from onboard cameras
・ Behavior learning with omnidirectional vision
Actually, the exhibition was held in RoboCup 1998 with Actually, the exhibition was held in RoboCup 1998 with prototype of AIBO.prototype of AIBO.
Simple Individual behaviors Simple Individual behaviors very complex ones and very complex ones and also team plays with communication.also team plays with communication.
The field become larger and largerThe field become larger and larger
2000
One extreme application: test-bed One extreme application: test-bed for brain science.for brain science.
Current application: Current application: entertainment, pet robots.entertainment, pet robots.
Another extreme application: Another extreme application: practical use in our daily life??? practical use in our daily life??? HRP by Japanese government.HRP by Japanese government.
Basic behaviors: Basic behaviors: walking, ball-kicking,walking, ball-kicking, running, turning, jumping,…..running, turning, jumping,…..
Cognitive performance: object Cognitive performance: object recognition/trackingrecognition/tracking
Combined behaviors: object following, object Combined behaviors: object following, object avoidance, kicking a stationary/moving ball,avoidance, kicking a stationary/moving ball,……
Auditory system, planning Auditory system, planning Future Future
Humanoid League since 2002
Remote brain and external power Remote brain and external power self contained! self contained!
No walls from the beginning.No walls from the beginning.
Individual play Individual play 2 on 2 game. 2 on 2 game.
Still lack of the stabilityStill lack of the stability
First Humanoid league 2002
For more information about RoboCupJunior…
References:
Special Thanks to Amy Eguchi, PhDDivision of EducationBloomfield College
