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 an exciting final game, we met the Bold Hearts (UK). We scored the 1:0 quickly, but the Bold Hearts evened to 1:1. Both teams continued strong, but at the end of the game we managed the 2:1 and won.
We will follow-up with videos of the game later this month. Right now we are preparing for our next competition, the Iran Open 2014. Our flight leaves today, so there’s not much time but to pack. We are going to meet the Bold Hearts and the Hamburg Bit-Bots as well as several other teams, including the current world vice champion from Iran. This will be an exciting competition, we will try to update you as much as possible on our Facebook page and here.
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.
Today we started with the round robin games. At noon we placed against the Hamburg Bit Bots. Though we managed to move the ball towards their goal, and sometimes even quite close, stability issues caused our robots to miss all chances to score. At the end, the game ended with a 1:1 tie (both goals scored by Hamburg).
The second game went significantly better, though there is still room for improvement. We played against the WF Wolves and the final score was 5:0.
At https://www.facebook.com/fumanoids you can see two short videos of Emmy scoring a goal (once in a test match against the Bit Bots, once against the WF Wolves in the round robin game).
This evening we plan another test game against the Hamburg Bit-Bots, and tomorrow at 11am we will have our final round robin game against the Bold Hearts.
Today was the second setup day. We started the day with an extensive check of the robots, improving various aspects and preparing for the second test match against the Hamburg Bit Bots. This game went much better (for both sides) than yesterday, with a final score of 1:0 for us (pictures below). Obviously this still is far from perfect, but these games allow us to spot the most critical points we need to work on and we hope that tomorrow in the official games we will score more goals. Maybe we’ll have a third test game this night.
In the afternoon we had the referee training, and afterwards our robots were inspected for rule compliance. Steve unfortunately did not pass the inspection but all other robots are allowed to play.
We now also know the schedule. As there are only 4 teams participating after all, everybody will play everybody in the first round, with the first two games tomorrow and the third game Friday morning.
- Thursday 12pm: FUmanoids vs Hamburg Bit-Bots
- Thursday 4pm: FUmanoids vs WF Wolves
- Friday 11am: FUmanoids vs Bold Hearts
On Friday afternoon will be the semi finals (at 4pm and 5.30pm) and on Saturday we will have the final at 2.30pm and the game for 3rd place at 1.30pm.
The first setup day at the RoboCup German Open comes to an end. We prepared all robots, tested most of our features on the large field, and did a test game against the Hamburg Bit-Bots.
P.S.: You will notice we built new heads over the weekend
We are off to participate in the RoboCup German Open. Tuesday and Wednesday will be setup/preparation days, and Thursday to Saturday we will have the actual competition. If you are in the area, swing by to watch a game (free entry).
Updates will be delivered via Facebook (no account needed to view our posts) and hopefully, time permitting, via this blog.
If you followed us on Facebook, you already saw how our sixth robot – Emmy – was coming together. It was a long way for Emmy to start walking. Initial plans for here were made over a year ago, when we manufactured enough mechanical parts for six robots. In January, Emmy’s legs and torso were assembled, however we couldn’t finish as we did not have enough working servo motors for the head and feet. The motors we had left didn’t have working boards, something which we could not easily repair ourselves. Thankfully the Darmstadt Dribblers helped us out – as they replaced all their servo boards they kindly provided us replacement boards for our servos. This finally allowed us to finish Emmy (and still have a few spare servos).
Testing computer vision, modeling and behavior on a humanoid robot can be difficult. At some point you can’t rely on the simulator anymore and have to test on a real robot. And suddenly everything becomes more complicated and the results less reliable. Swearwords can be heard when the robot is not working perfectly (lose screws, mis-calibrated servos, …) and time has to be spent doing basic repairs and configuration. Even if the robot is in perfect condition, the change from simulator to actual walking robot is a big difference due to a lot of noise in the image and sensor data caused by the robot walking.
So for testing, we already showed you a three-wheel platform for our robots a while ago. After we had to recycle the servos in it for repairs, it got a bit forgotten until a couple of months ago when we updated the design to now be a standalone robot. Luckily we saved the prototype of the torso which is now mounted on a new base platform. We also updated the omni-wheels (again borrowed from one of the FU-Fighter small size robots) to a smaller version to prevent judder while driving. Adding the head, we now have Steve, whose camera is precisely the same height as our bi-pedal robots and which can run the same software. As it only has 5 servos, the battery lasts much longer which is an added benefit when testing. And as Steve can not fall down and has not many moving parts, it is (almost) always in perfect working condition.
Overall, this makes for a very nice test robot. Check out the pictures below.
After having coded past midnight on Friday, the teams arrived back this Saturday morning to prepare for a day of coding, talking and tests. We did our first friendly game this year, against the Hamburg Bit-Bots. Some issues on both sides caused the number of shot goals to be quite low (final score was 1:1). , however that’s what these games are for. Overall we are quite optimistic about the state of our robots and software and are going to work on some of the issues. The Bit Bots played against Bold Hearts as well. Hopefully we’ll have more games tomorrow.