Engenharia de Robôs
URI permanente desta comunidadehttps://repositorio.fei.edu.br/handle/FEI/339
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3 resultados
Resultados da Pesquisa
- Hardware and software aspects of the design and assembly of a new humanoid robot for RoboCup soccer(2014-10-23) PERICO, D. H.; SILVA, I. J.; VILAO, C. O.; HOMEM, T. P. D.; DESTRO. R. C.; Flávio Tonidandel; Reinaldo Bianchi© 2014 IEEE.This paper describes the design and development of a new humanoid robot named Newton, that is intended for applications in research and also to be used in the Robo Cup Kid Size League World Competition. Newton robot has been designed to work without any dedicated sub-controller implemented in low level hardware, often used to control the servomotors of the robot. Newton uses only a standard personal computer to do all processing and control necessary by the robot. To be able to deal with all the tasks involved in the robotic soccer domain, a new software architecture is proposed. This architecture is based on the hybrid paradigm, involving sensing, decision, planning, low level control, localization and communication. Preliminary tests show that the robot can walk properly while it performs tasks like finding the ball in an unknown position or positioning itself at the ball for kicking, exhibiting a very good performance.
- Humanoid robot gait on sloping floors using reinforcement learning(2016-01-05) SILVA, I. J.; PERICO, D. H.; HOMEM, T. P. D.; VILAO, C. O.; Reinaldo Bianchi; Flavio Tonidandel© Springer International Publishing AG 2016.Climbing ramps is an important ability for humanoid robots: ramps exist everywhere in the world, such as in accessibility ramps and building entrances. This works proposes the use of Reinforcement Learning to learn the action policy that will make a robot walk in an upright position, in a lightly sloped terrain. The proposed architecture of our system is a two-layer combination of the traditional gait generation control loop with a reinforcement learning component. This allows the use of an accelerometer to generate a correction for the gait, when the slope of the floor where the robot is walking changes. Experiments performed on a real robot showed that the proposed architecture is a good solution for the stability problem.
- Evaluating the performance of two computer vision techniques for a mobile humanoid agent acting at Robocup kidsized soccer league(2016-10-31) VILAO, C. O.; FERREIRA, V. N.; CELIBERTO, L. A.; Reinaldo Bianchi© Springer International Publishing AG 2016.A humanoid robot capable of playing soccer needs to identify several objects in the soccer field in order to play soccer. The robot has to be able to recognize the ball, teammates and opponents, inferring information such as their distance and estimated location. In order to achieve this key requisite, this paper analyzes two descriptor algorithms, HAAR and HOG, so that one of them can be used for recognizing humanoid robots with less false positives alarms and with best frame per second rate. They were used with their respective classical classifiers, AdaBoost and SVM. As many different robots are available in RoboCup domain, the descriptor needs to describe features in a way that they can be distinguished from the background at the same time the classification has to have a good generalization capability. Although some limitations appeared in tests, the results were beyond expectations. Given the results, the chosen descriptor should be able to identify a mainly white-ball, which is clearly a simpler object. The results for ball detection were also quite interesting.