53 lines
2.7 KiB
TeX
53 lines
2.7 KiB
TeX
\section{Ball Alignment}
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Now that the robot aligned itself with the ball and the goal, it has to move to the
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right position, from which it can perform the kick. Depending on the situation, it
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was feasible to program the robot to automatically select which foot to kick the ball with;
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however, due to time constraints we decided to program the robot to kick only with the left foot.
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In order to program the robot to correctly position its left foot in front of the ball,
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we identified the right position that the ball should be positioned at,
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within the robot’s lower camera as shown in \ref{p figure ball-alignment}.
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We then experimentally determined the extents of this region.
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The algorithm therefore is for the robot to gradually adjust its position in small steps,
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until the ball image reaches the target, which would trigger the robot to perform the kick. \\
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Our tests have shown that this method was quite robust and gave consistent results.
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We registered no case where the robot missed the ball or hit it with the edge of the foot.\\
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\begin{figure}[ht]
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\includegraphics[width=\textwidth]{\fig ball-align}
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\caption{Ball alignment}
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\label{p figure ball-alignment}
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\end{figure}
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\section{Kick}
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The final milestone in the goal scoring project is naturally the kick. Before
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we started working on the kick, we set the requirements that our
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implementation must meet. Firstly and most importantly, the robot shouldn't
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fall down during and after performing the kick. Secondly, the kick performance should be efficient,
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thus ideally only one attempt would be necessary for the ball to reach the goal.
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Consequently, we opted for a powerful kick which can cover high distances. \\
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As shown in \ref{p figure kick} To obtain our strong kick, First the robot will use its ankle joints to shift
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its weight to the base leg to compensate for the gravity and to avoid any collision between the kicking foot and the floor.
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After this, the robot will be able to lift the
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kicking leg to achieve a stronger swing. Finally, the robot will perform the swing and return
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to the standing position safely. Both raising the leg and doing the swing require
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precise coordinated joint movements, so we had to conduct experiments to
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establish the correct joint angles and the movement speed. \\
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An important drawback of our implementation is that the swing makes the whole
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process slower, but we weren't able to design a strong and stable kick without
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using the swing. Nevertheless, the tests that we performed have shown that our
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implementation satisfies our requirements, and hence the last milestone was
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successfully completed.\\
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\begin{figure}[ht]
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\includegraphics[width=\textwidth]{\fig kick}
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\caption{Kick sequence}
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\label{p figure kick}
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\end{figure}
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