One thing worth pointing out how well the players communicated with another. The goalie Grace for example told Alan that he was dribbling towards the wrong goal, which allowed him to reorientate himself.
The first game against the Hamburg BitBots was exciting as always, both teams had improved quite a bit since the testing match on Tuesday.
One of their defenders was nice enough to help the ball over the goal line when we had only made it up to it.
After more great chances unfortunately not taken, in the end we won with a score of 1:0.
Our last game of the groupphase against our friendly table-neighbours of the team MRL ended 1:0 as well.
The redeeming goal needed a painfully long time to happen, and we were close to shooting at our own goal before that.
A sped up walker gave us more ballcontrol in the semifinals, in which we met with the BitBots again.
The game was quite the thriller, and the result (1:0) shows how close we were to a tie.
After this exciting day of Football and Robots and nice people and interviews with Iranian newspapers and TV stations and ice cream and exploding batteries (well, there were sparks..) we are all eager to play against Parand again in the final tomorrow.
This rematch of the tie on wednesday will be an interesting game for sure, we will let you know how it goes.
Wish us luck!
The friendly match on Tuesday against our friends, the Hamburg BitBots, provided us with enough material to be busy coding a long way into the night.
But the hassle paid off:
The next morning, in our first game against the Iranian team Parand, we still encountered problems, but a lot less.
The Parand strikers were strong shooters, but the FUmanoids prevented any clear goal, so ultimately, the game ended in a tie (0:0).
Having learned from the first match, our second one against the team AMITIS turned out to be more successful:
The Amazing Alan scored the first goal in the competition at all by dribbling it over the line. What a success!
The new rules apparently prove difficult for all teams.
Everyone seems to have trouble finding both ball and goal.
So it keeps being interesting to see how the competition will continue.
Oh right: Lutz held a presentation on one of his favorite topics: Inverse Kinematics.
It was both bold and beautiful, believe me.
Happy Easter, dear Fans and fellow FUmanoids!
Our easter-weekend was pretty busy: filled with preparations and teambuilding exercises in beautiful surroundings (look at those mountains!).
Yesterday was the first setup-day on location and the first chance to test the robots on the playing field while around us the exhibition was being prepared.
Today the IranOpen 2015 was officially opened with a ceremony including many important-looking people, participants from many different countries and an indoor fireworks.
Some of our achievements over the last few days are a temperature-dependent gyrodrift, a quicker localization and improved (no, brillantly working!) ballrecognition (new rules replaced the former orange ball by a more complex one including white and arbitrary colors).
A huge relief is the artificial grass on the field: It is much shorter than expected and the ground is pretty sound, so it is relatively easy for the robots to walk on it.
A list of our games for the next two days:
Wednesday 10 am: Parand (Iran)
Wednesday 2 pm: AMITIS (Iran)
Thursday 10 am: Hamburg BitBots (Germany)
Thursday 3 pm: MRL (Iran)
All humanoids (both in flesh and steel) arrived safe and sound and were welcomed warmly by the hosts of the Iran Open RoboCup 2015.
We are all excited and hope that you are, too!
We will keep you up to date about the competition, stay tuned and keep your fingers crossed!
The FUmanoids’ head coach, Prof. Raúl Rojas, has been named “University Professor of the Year” by the German Association of University Professors and Lecturers (DHV). We are very happy for this well-deserved award. Below is a short video (in German) that has been made for the award ceremony.
As simple as it sounds, a very essential ability of humanoid robots is “not falling over”.
You can achieve this by arbitrarily complicated measures. In our case we focus on the more complicated ways (of course). We have developed an inverse kinematics solver using the concept of “damped least squares” which generates nice jacobian matrices which we use to perform gradient descents. With this fancy method we can give the robot certain tasks which it tries to execute. In the video you can see how the robot moves its center of mass towards a defined position above the left foot (it even uses the arms to raise the COM). And as a second task the robot shortens its right leg. The second task clearly interferes with the first but the robot can still fulfill both.
As another measure we have weighted the tasks toward the “hold your balance” task. It is obviously more important to “not fall over”…