TY - GEN
T1 - Design and implementation of double passing strategy for humanoid robot soccer game
AU - Kuo, Ping Huan
AU - Ho, Ya Fang
AU - Wang, Te Kai
AU - Li, Tzuu Hseng S.
N1 - Funding Information:
This work supported by Ministry of Science and Technology of Taiwan, R.O. C, under Grants MOST 103-2221-E-006-252, MOST 104-2221-E-006-228-MY2, and the aim for the Top University Project to the National Cheng Kung University (NCKU) is greatly appreciated.
PY - 2017
Y1 - 2017
N2 - The goal of this paper was to accomplish a technical challenge of double passing soccer game for humanoid soccer robots in RoboCup competition. Using only a vision sensor, the control strategies for the technical challenges of humanoid league in RoboCup are designed and presented. The vision system includes the color space setting, the object recognition, a simplified mean shift algorithm, and the target position derivation. Vision system works on the tasks of object recognition, which includes the goal, landmark poles, and the interval of two black poles. The computational time is reduced greatly by the mean shift algorithm and that time can be utilized to do other control strategies. With the proposed control strategies, humanoid robots can successfully complete the RoboCup double passing task. The successful experiment results demonstrate the feasibility and effectiveness of the proposed foot-eye coordination control scheme.
AB - The goal of this paper was to accomplish a technical challenge of double passing soccer game for humanoid soccer robots in RoboCup competition. Using only a vision sensor, the control strategies for the technical challenges of humanoid league in RoboCup are designed and presented. The vision system includes the color space setting, the object recognition, a simplified mean shift algorithm, and the target position derivation. Vision system works on the tasks of object recognition, which includes the goal, landmark poles, and the interval of two black poles. The computational time is reduced greatly by the mean shift algorithm and that time can be utilized to do other control strategies. With the proposed control strategies, humanoid robots can successfully complete the RoboCup double passing task. The successful experiment results demonstrate the feasibility and effectiveness of the proposed foot-eye coordination control scheme.
UR - http://www.scopus.com/inward/record.url?scp=84978484029&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84978484029&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-31293-4_29
DO - 10.1007/978-3-319-31293-4_29
M3 - Conference contribution
AN - SCOPUS:84978484029
SN - 9783319312910
T3 - Advances in Intelligent Systems and Computing
SP - 357
EP - 371
BT - Robot Intelligence Technology and Applications 4 - Results from the 4th International Conference on Robot Intelligence Technology and Applications
A2 - Karray, Fakhri
A2 - Kim, Jong-Hwan
A2 - Myung, Hyun
A2 - Jo, Jun
A2 - Sincak, Peter
PB - Springer Verlag
T2 - 4th International Conference on Robot Intelligence Technology and Applications, RiTA 2015
Y2 - 14 December 2015 through 16 December 2015
ER -