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Pavel Lutskov
2018-08-09 10:05:07 +02:00
parent 3b15bc7798
commit 060eb3b815
4 changed files with 16 additions and 13 deletions
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13
documentation/align.tex
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@@ -37,12 +37,13 @@ but due to time constraints we programmed the robot to kick with the left foot
only. So, the task now is to place the ball in front of the left foot. We only. So, the task now is to place the ball in front of the left foot. We
realized, that when the ball is in the correct position, then its image in the realized, that when the ball is in the correct position, then its image in the
lower camera should be within a certain region. We experimentally determined lower camera should be within a certain region. We experimentally determined
the extents of this region. The algorithm therefore is for the robot to the extents of this region, which is schematically presented in figure \ref{p
gradually adjust its position in small steps, until the ball image reaches the figure ball-alignment}. The algorithm therefore is for the robot to gradually
target, after which the robot will proceed with the kick. Our tests have shown, adjust its position in small steps, until the ball image reaches the target,
that this method while being relatively simple, works sufficiently robust, after which the robot will proceed with the kick. Our tests have shown, that
which means that we didn't have the situations, when the robot missed the ball this method while being relatively simple, works sufficiently robust, which
after alignment or even hit the ball with an edge of the foot. means that we didn't have the situations, when the robot missed the ball after
alignment or even hit the ball with an edge of the foot.
\begin{figure}[ht] \begin{figure}[ht]
\includegraphics[width=\textwidth]{\fig ball-align} \includegraphics[width=\textwidth]{\fig ball-align}

3
documentation/approach.tex
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@@ -36,7 +36,8 @@ will stop moving, will adjust the movement direction and then will go further.
The robot will continue moving until the ball is close enough to start the goal The robot will continue moving until the ball is close enough to start the goal
alignment. Do determine if that is the case, we don't use trigonometry, but alignment. Do determine if that is the case, we don't use trigonometry, but
simply define a threshold, which the image of the ball in the robot's lower simply define a threshold, which the image of the ball in the robot's lower
camera should reach. Once this has happened, the approach stage is over and the camera should reach. The threshold is visualized in figure \ref{p figure
direct-approach}. Once this has happened, the approach stage is over and the
robot will start aligning itself to the goal. robot will start aligning itself to the goal.
\begin{figure}[ht] \begin{figure}[ht]

11
documentation/introduction.tex
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@@ -33,11 +33,12 @@ aspects of our motivation behind this objective. The first one is the fact,
that goal scoring is crucial for winning soccer games, therefore fast and that goal scoring is crucial for winning soccer games, therefore fast and
effective goal scoring will bring the team closer to victory. Secondly, in effective goal scoring will bring the team closer to victory. Secondly, in
order to score a goal, many problems and tasks need to be solved, which we will order to score a goal, many problems and tasks need to be solved, which we will
describe in close detail in the next chapter. The work on these tasks would describe in close detail in the following chapters. The work on these tasks
allow us to acquire new competences, which we could then use to complement the would allow us to acquire new competences, which we could then use to
RoboCup team of the TUM. Finally, this objective encompasses many disciplines, such complement the RoboCup team of the TUM. Finally, this objective encompasses
as object detection, mechatronics or path planning, which means that working on many disciplines, such as object detection, mechatronics or path planning,
it might give us a chance to contribute to the research in these areas. which means that working on it might give us a chance to contribute to the
research in these areas.
Having said that, we hope that our project will be a positive contribution to Having said that, we hope that our project will be a positive contribution to
the work being done at the Institute for Cognitive Systems and that this the work being done at the Institute for Cognitive Systems and that this

2
documentation/kick.tex
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@@ -12,7 +12,7 @@ The procedure is as follows. First the robot will use its ankle joints to shift
its weight to the base leg. After this, the robot will be able to lift the its weight to the base leg. After this, the robot will be able to lift the
kicking leg for the swing. Finally, the robot will perform the swing and return kicking leg for the swing. Finally, the robot will perform the swing and return
to the standing position. Both raising the leg and doing the swing require to the standing position. Both raising the leg and doing the swing require
precise coordinated joint movements, so we had to conduct experiments to precise coordinated joint movements, so we had to conduct many experiments to
establish the correct joint angles and the movement speed. establish the correct joint angles and the movement speed.
An important drawback of our implementation is that the swing makes the whole An important drawback of our implementation is that the swing makes the whole