Difference between revisions of "RoboCup"

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* RoboCup@Home Leon's Team *
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__TOC__
  
 
This page is currently being developed
 
This page is currently being developed
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= Team =
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== Robotics Groups ==
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[[Image:BotyBot.png|left|300px|thumb|Robotics Group of University of León - [http://robotica.unileon.es/ Team Web Page] [http://unileon.es University Web Page]]]
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[[Image:Peloto.png|center|250px|thumb|Robotics Group of Rey Juan Carlos University - [http://www.robotica.gsyc.es/ Team Web Page] [http://www.urjc.es/ University Web Page]]]
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== People ==
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* Integration (Team Leader): [http://robotica.unileon.es/lera/ Francisco Javier Rodríguez Lera]
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* Navigation and Control: [http://gsyc.es/~fmartin/ Francisco Martín Rico]
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* Manipulation: [http://www.fernando.casadogarcia.es Fernando Casado García],  Alvaro Moreno García,
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* Navigation:  Jesús Balsa Comerón, Jonathan Gines Claveo, Francisco Javier Gutierrez-Maturana
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* Perception: Diego García Ordás, Alvaro Moreno García, Francisco Javier Gutierrez-Maturana
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* Team Director: [http://robotica.unileon.es/vmo Vicente Matellán Olivera]
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= Robot =
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== OrBiOne ==
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OrBiOne is the robot that we will be using for 2016 competitons. This mobile manipulation ([http://www.robotnik.eu/robotnik-introduces-rb-one-new-mobile-manipulator/ RB-1]) is developed by [http://www.robotnik.eu/robotnik-launches-the-new-version-of-its-mobile-manipulator-rb-1-and-rb-1-base-mobile-platform/ Robotnik].
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[[Image:RB1_robot.jpg|center|border|300px]]
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==  Hardware Description ==
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– Robot name: RB1
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#. Base: Robotnik (Dinamixel Motors)
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#. Vision Sensors: RGB-D Xtion
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#. Range sensors: Frontal laser
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#. Dialogue Sensors: Directional microphone Rode Rycote , Loudspeakers
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#. Manipulation: 7DOF arm. Dynamixel Pro servos. Workspace: 70 cm
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#. Computer Description: Intel Core i7 with 8 GB of RAM and a 200 GB of disk
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#. Torso: +40
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#. Head: pan-tilt head.
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==  Software Description ==
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– Development framework: ROS
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#. Vision: ork, findobject
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#. Dialogue: Pocketsphinx
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#. BellRecognition: pyaudio
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#. Manipulation: MoveIt, self developements.
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#. Navigation: Ros stack, self developements.
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– Robot Control: Finite State Machine (FSM) using Bica
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= Videos =
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=== Navigation in indoor environment ===
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The video presents a surveillance task in our lab. It shows the navigation approach of OrbiOne robot ([http://www.robotnik.eu/robotnik-introduces-rb-one-new-mobile-manipulator RB1-robotnik robot]) in our apartment.
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The robot navigates different apartment rooms in order to check user availability (living room and bedroom), visits (apartment front door after the doorbell rings) or alarm situation (fridge open-door alarm).
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<center><youtube>8icVWz0zSMw</youtube></center>
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=== Quiz Game and Context Awareness===
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Trivia game between user and robot. The conversation is interrupted by a ringbell.
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<center><youtube>pU4avjbgFMQ</youtube></center>
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=== RoboCup Navigation Tests Performance ===
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<center><youtube>8PqvkDc44Ds</youtube></center>
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<center><youtube>5_hmcqkndkM</youtube></center>
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<!--
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== CeRVaNTes ==
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We are developing a new platform, mobile bi-manipulator, that will not be ready for 2016 competition.
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[[Projects#Cervantes_Project|CeRVaNTeS platform]] proof of concept:
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<center><videoflash>JtDIRky7EKs</videoflash></center>
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{| style="border: solid 0px white; width: 50%" align="center"
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||
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----
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|}
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Teleoperation of CeRVaNTeS using a [http://www.microsoft.com/hardware/es-es/p/xbox-360-wireless-controller-for-windows Xbox 360 wireless controller] ([[CeRVaNTeS' Teleoperation with xbox360 wireless controller (xbox360 controller+joy)|more info]]), and CeRVaNTeS platform Integrated in [http://moveit.ros.org/ moveIt!] ([[Integration of CeRVaNTeS in moveIt! (gazebo+moveIt!)|more info]]):
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<videoflash>wF_gKr1KWfg#t=13</videoflash>
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<videoflash>bYtvNJHraVs</videoflash>
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{| style="border: solid 0px white; width: 50%" align="center"
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||
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----
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|}
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-->
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= Research =
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== Arhictecture ==
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We have a three layer architecture based on ROS and BICA [1]. The lower layer corresponds to ROS, and is in charge of hardware management. The intermediate layer provides the robot skills in order to carry out specific duties (perception, navigation,...).
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The top layer presents BICA. It is a component-based for generating behaviors architecture. This node coordinates the various capabilities of the robot depending on the task to be carried out by the robot. Figure 2 shows the overall architecture of the software we have developed for participating in the RoCKIn competition.
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[[Image:Rokinarq.jpg|center|border|500px]]
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= Github Repository=
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* Individuals:
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https://github.com/FranLera
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https://github.com/fmrico
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https://github.com/casadofer
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* Group
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https://github.com/Robotica-ule/MYRABot
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= Papers =
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* [http://robotica.unileon.es/mediawiki/documents/TDP_LeonRobot_31032016.pdf  Team Description paper ]
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* List of group publications can be found in the University of [[Publications |León's robotics group publications page]] and in the URJC's [http://gsyc.es/~fmartin/#publications publications] page.

Latest revision as of 10:39, 18 August 2016

This page is currently being developed

Team

Robotics Groups

Robotics Group of University of León - Team Web Page University Web Page
Robotics Group of Rey Juan Carlos University - Team Web Page University Web Page

People

Robot

OrBiOne

OrBiOne is the robot that we will be using for 2016 competitons. This mobile manipulation (RB-1) is developed by Robotnik.


RB1 robot.jpg


Hardware Description

– Robot name: RB1

  1. . Base: Robotnik (Dinamixel Motors)
  2. . Vision Sensors: RGB-D Xtion
  3. . Range sensors: Frontal laser
  4. . Dialogue Sensors: Directional microphone Rode Rycote , Loudspeakers
  5. . Manipulation: 7DOF arm. Dynamixel Pro servos. Workspace: 70 cm
  6. . Computer Description: Intel Core i7 with 8 GB of RAM and a 200 GB of disk
  7. . Torso: +40
  8. . Head: pan-tilt head.


Software Description

– Development framework: ROS

  1. . Vision: ork, findobject
  2. . Dialogue: Pocketsphinx
  3. . BellRecognition: pyaudio
  4. . Manipulation: MoveIt, self developements.
  5. . Navigation: Ros stack, self developements.

– Robot Control: Finite State Machine (FSM) using Bica

Videos

Navigation in indoor environment

The video presents a surveillance task in our lab. It shows the navigation approach of OrbiOne robot (RB1-robotnik robot) in our apartment.

The robot navigates different apartment rooms in order to check user availability (living room and bedroom), visits (apartment front door after the doorbell rings) or alarm situation (fridge open-door alarm).


Quiz Game and Context Awareness

Trivia game between user and robot. The conversation is interrupted by a ringbell.



RoboCup Navigation Tests Performance


Research

Arhictecture

We have a three layer architecture based on ROS and BICA [1]. The lower layer corresponds to ROS, and is in charge of hardware management. The intermediate layer provides the robot skills in order to carry out specific duties (perception, navigation,...). The top layer presents BICA. It is a component-based for generating behaviors architecture. This node coordinates the various capabilities of the robot depending on the task to be carried out by the robot. Figure 2 shows the overall architecture of the software we have developed for participating in the RoCKIn competition.

Rokinarq.jpg

Github Repository

  • Individuals:

https://github.com/FranLera

https://github.com/fmrico

https://github.com/casadofer

  • Group

https://github.com/Robotica-ule/MYRABot

Papers

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