大人サイズヒューマノイドでRoboCup 2017優勝を果たしたNimbRoロボット
Grown-up NimbRo Robots Winning RoboCup 2017 Humanoid AdultSize Soccer Competitions
RoboCup 2017 AdultSize 1対1サッカー向けに新型ロボットNimbRo-OP2と改良型Copedoを開発し、視覚認識や自己位置推定、サッカー行動生成を改善して優勝した論文。
著者: Grzegorz Ficht, Dmytro Pavlichenko, Philipp Allgeuer, Hafez Farazi, Diego Rodriguez, André Brandenburger, Johannes Kürsch, Michael Schreiber, Sven Behnke
分類: cs.RO
原文アブストラクト
The ongoing evolution of the RoboCup Humanoid League led in 2017 to the introduction of one vs. one soccer games for the AdultSize robots, which motived our team NimbRo to enter this category. In this paper, we present the mechatronic design of our upgraded robot Copedo and the newly developed NimbRo-OP2, which received the RoboCup Design Award. We also describe improved approaches to visual perception of the game situation, including compassless localization on a soccer field with symmetric appearance, and the generation of soccer behaviors. At RoboCup 2017 in Nagoya, our robots played very well, winning the AdultSize soccer tournament with high scores. Our robots also won the technical challenges and we present the developed solutions.
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