Eine grundlegende Fähigkeit von humanoiden Robotern sollte das “nicht-Umfallen” sein.
Das lässt sich auf beliebig komplizierte oder weniger komplizierte Arten lösen. In unserem Fall bevorzugen wir natürlich die etwas komplizierteren Techniken und haben eine inverse Kinematik nach dem “Damped Least Squares”-Prinzip mit einem Gradientenabstieg mittels Jacobimatrix entwickelt. Mit der Technik können wir dem Roboter “Aufgaben” geben, die er dann erfüllt. In dem Video sehen wir beispielsweise, wie der Roboter in einer Aufgabe die punktförmige Ersatzmasse an eine definierte Koordinate oberhalb des linken Fußes bringt (deshalb bewegt er auch die Arme und den Oberkörper); und in einer zweiten Aufgabe zieht er das rechte Bein an. Dadurch, dass die Aufgaben zugunsten der Balance-Aufgabe gewichtet wurden, fällt Emmi nicht um!
Morgen ist die Lange Nacht der Wissenschaften in Berlin, und auch die FUmanoids werden wieder vertreten sein. Von 17 Uhr bis Mitternacht könnt Ihr uns in Raum 005 in der Takustraße 9 besuchen.
Unser Torwart hat sich während den Tournieren im April bewährt. Während er in den ersten Spielen noch oft vorschnell ausgelöst hat (nach dem Motto “besser zu früh, als zu spät”), hatten wir das am Ende im Griff und er hat zuverlässig alle Torschüsse gehalten. Hier ein kleiner Zusammenschnitt:
After the finals at RoboCup Iran Open 2014, we were asked whether we wanted to play a friendly match against the winning team from the SPL (MRL).
So we went over to the SPL field and started our preparations. Because we played on their field with slightly different lighting, different goals and with a much smaller ball, we had to adjust our software and vision calibration quickly.
As we also did not use the same game controller protocol as the SPL, we also tried to set up our own including own WiFi network. After initial cross-disturbances between the two networks were resolved, we still had no working connection. As in the meantime quite a large audience had assembled, we decided to play without network and manual start. This limited us to two robots (without network the team play does not work) and MRL kindly agreed to also limit their team.
The game itself was fun, though we were hardly in ball possession and definitely did not show our best game play. At the end we lost 1:2 (with all goals scored by MRL), but if it weren’t for our goal keeper Grace it could have been much worse. Now if she just would have been able to stand up properly Emmy as striker also had major problems. Two weeks of competition put some strain on our robots, and we did not have the time (and energy) to fix all the hardware issues prior to this game. We temporarily put in John for Emmy, but this was even worse (see minute 7 in the video).
Below are a couple of shots of our goal keeper and the video of the half-time we played. </span>
Aufgrund einiger Internetausfälle und da insgesamt noch viel an den Robotern gearbeitet wurde, haben wir es leider nicht geschafft hier zeitnah Informationen über die Wettbewerbstage auf der Iran Open zu veröffentlichen. Falls Ihr uns auf Facebook gefolgt seid (dazu ist kein Facebook-Account notwendig!), wißt Ihr ja bereits wie es ausgegangen ist. In diesem Post wollen wir eine schnelle Übersicht über die Spiele und Ergebnisse der Iran Open 2014 geben.
We arrived in Tehran at 3.15am local time this morning. After some delay with deboarding, a very long line at immigration and some discrepancy in regards to our position and where to really pick up our luggage, we were warmly welcomed by members of the Iran Open organisation.
At the end, we arrived at our rooms after 7am, at which time we took a shower, ate a quick breakfast and went straight to the Iran Open site. We felt it would be better for the next days that way, i.e. not to sleep some hours and wake up even more tired, possibly getting our internal clocks misaligned. So we were the first team to select a place in the humanoid league area at 9am.
Since then, we put our 6 robots back together and started working on new features. Admittedly it is going a bit slower than usual, as everybody is tired. We will leave early today, to get a good night sleep and tackle the outstanding tasks tomorrow freshly.
In einem spannenden Finalspiel haben wir die Bold Hearts (UK) getroffen. Wir haben schnell das 1:0 geschossen, aber die Bold Hearts haben zügig auf 1:1 aufgeholt. Beide Teams spielten stark, aber am Ende der zweiten Halbzeit schafften wir das entscheidende 2:1 und sind damit Gewinner der RoboCup German Open 2014 in der Humanoid KidSize Liga.
Videos vom Spiel folgen später. Im Moment sind wir damit beschäftigt, uns für den nächsten Wettbewerb vorzubereiten, den RoboCup Iran Open 2014. Unser Flug startet heute, es ist also nicht viel Zeit. Wir werden dort auch die Bold Hearts und die Hamburg Bit-Bots wiedersehen, sowie viele andere Teams einschließlich dem amtierenden Vizeweltmeister aus dem Iran. Es wird ein spannender Wettbewerb, aber wir werden versuchen Euch hier und insbesondere auf unsererFacebook-Seite auf dem Laufen zu halten.
It was a full day, with the third round robin game this morning against the Bold Hearts, and later the semi-finals.
In the round robin game we met the Bold Hearts, which is a rather strong team in regards to walking speed and shooting at the goal. Fortunately for us, they tend to lose track of which is their own goal pretty quickly when the ball gets past them, which helped us quite a bit in the game. We ended it with 3:1 (2:0) and this made us first in the group (with a goal tally of 9:2).
In the semi finals we met the WF Wolves. We scored a goal pretty quickly, however due to a last minute “improvement” we had some issues with seeing balls where none were. This caused some slightly erratic behavior, and the Wolves were able to score into our goal as well. The first half time ended 1:1 and we quickly fixed the software. In the second half, we had several goal chances, however the Wolves also quickly went to the ball, so that there was a lot of 1-on-1 (or -2) and subsequent confusion. The Wolves themselves shot two goals into their goal (one time pushing away our robot that was just to do the same). The game ended 3:1.
In the semi-final Bit Bots against Bold Hearts, the game tied 1:1 after regular time and had to go into extension (two additional 5-minute playing periods), and finally penalty shootouts. The Bold Heart decided this with 3 goals, the Bit Bots only scored twice. This means that tomorrow at 1pm the Bit Bots will meet the WF Wolves in the game for place 3, and we will meet the Bold Hearts at 2.30pm to decide first and second place.
Emmy as striker also had major problems. Two weeks of competition put some strain on our robots, and we did not have the time (and energy) to fix all the hardware issues prior to this game. We temporarily put in John for Emmy, but this was even worse (see minute 7 in the video).
