Soccer Robots Implementing Soccer Behaviors in the Webots Simulator for NAO Robots
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Player-Stage Based Simulator for Simultaneous Multi-Robot Exploration and Terrain Coverage Problem
International Journal of Artificial Intelligence & Applications (IJAIA), Vol.2, No.4, October 2011 PLAYER -STAGE BASED SIMULATOR FOR SIMULTANEOUS MULTI -ROBOT EXPLORATION AND TERRAIN COVERAGE PROBLEM K.S. Senthilkumar and K. K. Bharadwaj School of Computer and Systems Sciences Jawaharlal Nehru University, New Delhi 110067 [email protected], [email protected] ABSTRACT One of the possible ways of offering assistance without risking additional human lives during hazardous situations is by deploying a robot team, equipped with various sensors and actuators. Working with intelligent robotics requires a large investment in both money and time. There is a general purpose, open source simulator called Player/Stage, which provides a hardware abstraction layer to several popular robot platforms, and is commonly used by robotics community in research and university teaching, today. This simulator tends to be very simple and task-specific. Player, which is a distributed device server for robots, sensors and actuators, can control either a real or simulated robot thus allowing direct application of developed algorithms to real-life scenarios. Hence, we believe that Player/Stage, when coupled with robust hardware, is a viable paradigm for our Simultaneous MSTC(S-MSTC) algorithm. This paper gives details of our experience in running Player/Stage during the implementation of our online S-MSTC algorithm for multi-robot being implemented in C++ and we use Player/Stage middleware for validation and testing. In addition, the experience with Player/Stage can help us to do research in more complicated situations. KEYWORDS Multi-robot, Exploration, Terrain Coverage, Player/Stage Simulator 1. INTRODUCTION In recent past, there has been an increasing interest in the software side of robotics such as simulators. -
Contributions to Adaptive Mission Planning for Cooperative Robotics in the Internet of Things
Universidad Politécnica de Madrid Departamento de Ingeniería Telemática y Electrónica Contributions to Adaptive Mission Planning for Cooperative Robotics in the Internet of Things Author: Néstor Lucas Martínez, MSc Supervisor: José Fernán Martínez Ortega, PhD This dissertation is submitted for the degree of PhD. in Systems and Services Engineering for the Information Society Escuela Técnica Superior de Ingeniería y Sistemas de Telecomunicación March 2021 DOCTORADO EN INGENIERÍA DE SISTEMAS Y SERVICIOS PARA LA SOCIEDAD DE LA INFORMACIÓN Tesis Doctoral Título Contributions to Adaptive Mission Planning for Cooperative Robotics in the Internet of Things Autor Néstor Lucas Martínez VºBº Director Dr. José-Fernán Martínez Ortega Tribunal Presidente M. Encarnación Pastor Martín Secretario Lourdes López Santidrián Vocal Celeste Campo Vázquez Vocal Miguel Ángel López Carmona Vocal Roemi Emilia Fernández Saavedra Suplente Juan Ramón Velasco Pérez Suplente Rodolfo E. Haber Guerra Lugar de lectura E.T.S.I. y Sistemas de Telecomunicación (U.P.M.) Fecha de lectura Calificación El Presidente El secretario Los vocales Tesis Doctoral para la obtención del título de Doctor por la Universidad Politécnica de Madrid This Ph.D. Thesis is dedicated to my family and friends. With a special memory to all the people affected by the COVID-19 global pandemic. Declaration I hereby declare that except where specific reference is made to the work of others, the contents of this dissertation are original and have not been submitted in whole or in part for consideration for any other degree or qualification in this, or any other university. This dissertation is my own work and contains nothing which is the outcome of work done in collaboration with others, except as specified in the text and Acknowledgements. -
Modelling, Simulation and Control of a Humanoid Robot
Heriot-Watt University School of Engineering and Physical Sciences M odelling, Simulation and control of a humanoid robot Inserting a pin to a hole using DARWINOP Group members: Roshenac Mitchell, Markus Lampert, Nurgaliyev Shakh- Izat, Samir Mammadov, Hugo Sardinha, Waqar Khadas Table of Contents 1 Introduction .................................................................................................................... 4 1.1 System overview .................................................................................................................. 4 1.2 Specification ........................................................................................................................ 5 2 Robot design and simulation ........................................................................................... 5 2.1 The Robotics Simulators ....................................................................................................... 6 2.1.1 Webot Robot Simulator .......................................................................................................... 6 2.1.2 Features .................................................................................................................................. 7 2.2 Technical information .......................................................................................................... 7 2.3 The Robotics World .............................................................................................................. 7 2.4 Simulation with the control of -
Insectomorphic Cargo-Carrying Robot on a Raft
CLAWAR 2020: 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Moscow, Russian Federation, 24-26 August 2020. https://doi.org/10.13180/clawar.2020.24-26.08.14 INSECTOMORPHIC CARGO-CARRYING ROBOT ON A RAFT YURY F. GOLUBEV and VICTOR V. KORYANOV Keldysh Institute of Applied Mathematics, Russian Academy of Sciences, Moscow, 125047 Russia E-mail: [email protected], [email protected] The algorithm of the hexapod robot motion control is described. The aim of the motion is to ship the robot on a raft together with a cargo to the other shore of a body of water in the simple case when the robot imparts to the raft an initial push from the shore. The motion consists of transporting the cargo from the shore to the raft, moving the cargo across the moving raft, and carrying the cargo from the raft to the other shore. The algorithm was worked out using computer simulation within the complete dynamical model of motion taking into account the nonstationary action of water on the raft. Computer simulation was performed using the Universal Mechanism software package. Numerical results prove the validity of the algorithm if enough data about the motion for the purpose of control is available. 1. Introduction An autonomous mobile robot designed for working on a rough terrain must be able to use environment conditions and various objects available in the area not only as a means for its motion [1] but also as a means for shipping useful cargos [2-4]. A hexapod mobile robot can potentially accomplish such tasks because it is able to release weight from a pair of its legs without violating the static stability [1]. -
Design and Implementation of an Autonomous Robotics Simulator
DESIGN AND IMPLEMENTATION OF AN AUTONOMOUS ROBOTICS SIMULATOR by Adam Carlton Harris A thesis submitted to the faculty of The University of North Carolina at Charlotte in partial fulfillment of the requirements for the degree of Master of Science in Electrical Engineering Charlotte 2011 Approved by: _______________________________ Dr. James M. Conrad _______________________________ Dr. Ronald R. Sass _______________________________ Dr. Bharat Joshi ii © 2011 Adam Carlton Harris ALL RIGHTS RESERVED iii ABSTRACT ADAM CARLTON HARRIS. Design and implementation of an autonomous robotics simulator. (Under the direction of DR. JAMES M. CONRAD) Robotics simulators are important tools that can save both time and money for developers. Being able to accurately and easily simulate robotic vehicles is invaluable. In the past two decades, corporations, robotics labs, and software development groups have released many robotics simulators to developers. Commercial simulators have proven to be very accurate and many are easy to use, however they are closed source and generally expensive. Open source simulators have recently had an explosion of popularity, but most are not easy to use. This thesis describes the design criteria and implementation of an easy to use open source robotics simulator. SEAR (Simulation Environment for Autonomous Robots) is designed to be an open source cross-platform 3D (3 dimensional) robotics simulator written in Java using jMonkeyEngine3 and the Bullet Physics engine. Users can import custom-designed 3D models of robotic vehicles and terrains to be used in testing their own robotics control code. Several sensor types (GPS, triple-axis accelerometer, triple-axis gyroscope, and a compass) have been simulated and early work on infrared and ultrasonic distance sensors as well as LIDAR simulators has been undertaken. -
Systematic Literature Review of Realistic Simulators Applied in Educational Robotics Context
sensors Systematic Review Systematic Literature Review of Realistic Simulators Applied in Educational Robotics Context Caio Camargo 1, José Gonçalves 1,2,3 , Miguel Á. Conde 4,* , Francisco J. Rodríguez-Sedano 4, Paulo Costa 3,5 and Francisco J. García-Peñalvo 6 1 Instituto Politécnico de Bragança, 5300-253 Bragança, Portugal; [email protected] (C.C.); [email protected] (J.G.) 2 CeDRI—Research Centre in Digitalization and Intelligent Robotics, 5300-253 Bragança, Portugal 3 INESC TEC—Institute for Systems and Computer Engineering, 4200-465 Porto, Portugal; [email protected] 4 Robotics Group, Engineering School, University of León, Campus de Vegazana s/n, 24071 León, Spain; [email protected] 5 Universidade do Porto, 4200-465 Porto, Portugal 6 GRIAL Research Group, Computer Science Department, University of Salamanca, 37008 Salamanca, Spain; [email protected] * Correspondence: [email protected] Abstract: This paper presents a systematic literature review (SLR) about realistic simulators that can be applied in an educational robotics context. These simulators must include the simulation of actuators and sensors, the ability to simulate robots and their environment. During this systematic review of the literature, 559 articles were extracted from six different databases using the Population, Intervention, Comparison, Outcomes, Context (PICOC) method. After the selection process, 50 selected articles were included in this review. Several simulators were found and their features were also Citation: Camargo, C.; Gonçalves, J.; analyzed. As a result of this process, four realistic simulators were applied in the review’s referred Conde, M.Á.; Rodríguez-Sedano, F.J.; context for two main reasons. The first reason is that these simulators have high fidelity in the robots’ Costa, P.; García-Peñalvo, F.J. -
Robotstadium: Online Humanoid Robot Soccer Simulation Competition
RobotStadium: Online Humanoid Robot Soccer Simulation Competition Olivier Michel1,YvanBourquin1, and Jean-Christophe Baillie2 1 Cyberbotics Ltd., PSE C - EPFL, 1015 Lausanne, Switzerland [email protected], [email protected] http://www.cyberbotics.com 2 Gostai SAS, 15 rue Vergniaud 75013 Paris, France [email protected] http://www.gostai.com Abstract. This paper describes robotstadium: an online simulation con- test based on the new RoboCup Nao Standard League. The simulation features two teams with four Nao robots each team, a ball and a soccer field corresponding the specifications of the real setup used for the new RoboCup Standard League using the Nao robot. Participation to the contest is free of charge and open to anyone. Competitors can simply register on the web site and download a free software package to start programming their team of soccer-playing Nao robots. This package is based on the Webots simulation software, the URBI middleware and the Java programming language. Once they have programmed their team of robots, competitors can upload their program on the web site and see how their team behaves in the competition. Matches are run every day and the ranking is updated accordingly in the ”hall of fame”. New simulation movies are made available on a daily basis so that anyone can watch them and enjoy the competition on the web. The contest is running online for a given period of time after which the best ranked competitors will be selected for a on-site final during the next RoboCup event. This contest is sponsored by The RoboCup federation, Aldebaran Robotics, Cyberbotics and Gostai. -
Artificial Intelligence Definitions Ai Based
Sold to Muhammad Shakur (#7XO5FTFO) ARTIFICIAL INTELLIGENCE: Dangers to Humanity Table of Contents ARTIFICIAL INTELLIGENCE DEFINITIONS Artificial Narrow Intelligence Artificial General Intelligence Artificial Super Intelligence Notice: AI BASED COMPANIES, ORGANIZATIONS, APPS AND PERSONS OF INTEREST. Huawei SECTION 2 Human Targeting Capability SECTION 3 Drone Swarm Automation Via Robots, Command Centers & AI Sold to Muhammad Shakur (#7XO5FTFO) MICRO-BOTIC (MBT) TERRORISM, ASSASSINATION & ESPIONAGE WITH BIO-METRIC SOFTWARE The Insect Drone CHINA DEPLOYS ROBOT POLICE ON CITIZENS 500 Smart Cities, Surveillance, and Tracking of Human Being’s via 5G and Robotics SECTION 4 China’s Military has Access to Bio-Metric & Facial Recognition Data of 6 Billion People World-Wide How they Extract your Data & Track You AI Automated Tracking at Shopping Centers SECTION 5 ONE BELT ONE ROAD – Bio-Digital Social Programming TRUMPS HUAWEI FIGHT IS REALLY ABOUT AI AUTOMATED ROBOTICS MOBILIZED WITH 5G Sold to Muhammad Shakur (#7XO5FTFO) HUMAN ORGAN TRAFFICKING & CONCENTRATION CAMPS IN CHINA ARTIFICIAL INTELLIGENCE WITH FACIAL RECOGNITION HUNTS HONG KONG YOUTH FOR CAPTURE, RAPE & SO CALLED SUICIDE China has Access to 6 Billion Peoples Bio-Metric/Facial Recognition Data SECTION 7 Bio-Digital Social Programming SECTION 8 Smart Phones, IoT, Apps, Computers, and Electronic Devices SECTION 9 AI Platforms Produce Destruction Codes Artificial Intelligence Sex Robots Programmed for Deep Learning Sold to Muhammad Shakur (#7XO5FTFO) Neurological Damage From Connecting Robot -
Modular Low-Cost Humanoid Platform for Disaster Response
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014) September 14-18, 2014, Chicago, IL, USA Modular Low-Cost Humanoid Platform for Disaster Response Seung-Joon Yi∗, Stephen McGill∗, Larry Vadakedathu∗, Qin He∗, Inyong Ha†, Michael Rouleau‡, Dennis Hong‡† and Daniel D. Lee∗ Abstract— Developing a reliable humanoid robot that oper- ates in uncharted real-world environments is a huge challenge for both hardware and software. Commensurate with the technology hurdles, the amount of time and money required can also be prohibitive barriers. This paper describes Team THOR’s approach to overcoming such barriers for the 2013 DARPA Robotics Challenge (DRC) Trials. We focused on forming modular components – in both hardware and software – to allow for efficient and cost effective parallel development. The robotic hardware consists of standardized and general purpose actuators and structural components. These allowed us to successfully build the robot from scratch in a very short development period, modify configurations easily and perform quick field repair. Our modular software framework consists of a hybrid locomotion controller, a hierarchical arm controller and a platform-independent operator interface. These modules helped us to keep up with hardware changes easily and to have multiple control options to suit various situations. We validated our approach at the DRC Trials where we fared very well against robots many times more expensive. Keywords: DARPA Robotic Challenge, Humanoid Robot, Modular Design, Full Body Balancing Controller I. INTRODUCTION Fig. 1. The THOR-OP robot holds a drill in hand while walking stably. The ultimate goal of humanoid robotics is to work in typ- ical environments designed for humans. -
Robot Object Detection and Locomotion Demonstration for EECS Department Tours
University of Tennessee, Knoxville TRACE: Tennessee Research and Creative Exchange Supervised Undergraduate Student Research Chancellor’s Honors Program Projects and Creative Work 5-2021 Robot Object Detection and Locomotion Demonstration for EECS Department Tours Bryson Howell [email protected] Ethan Haworth University of Tennessee, Knoxville, [email protected] Chris Mobley University of Tennessee, Knoxville, [email protected] Ian Mulet University of Tennessee, Knoxville, [email protected] Follow this and additional works at: https://trace.tennessee.edu/utk_chanhonoproj Part of the Robotics Commons Recommended Citation Howell, Bryson; Haworth, Ethan; Mobley, Chris; and Mulet, Ian, "Robot Object Detection and Locomotion Demonstration for EECS Department Tours" (2021). Chancellor’s Honors Program Projects. https://trace.tennessee.edu/utk_chanhonoproj/2423 This Dissertation/Thesis is brought to you for free and open access by the Supervised Undergraduate Student Research and Creative Work at TRACE: Tennessee Research and Creative Exchange. It has been accepted for inclusion in Chancellor’s Honors Program Projects by an authorized administrator of TRACE: Tennessee Research and Creative Exchange. For more information, please contact [email protected]. Robot Object Detection and Locomotion Demonstration for EECS Department Tours Detailed Design Report Bryson Howell, Ethan Haworth, Chris Mobley, Ian Mulet Table of Contents Executive Summary 1 Problem Definition & Background 1 Changelog 2 Requirements Specification 2 Technical Approach -
URBI Tutorial for Urbi 1.0 (Book Compiled from Revision 245M)
URBI Tutorial for Urbi 1.0 (book compiled from Revision 245M) Jean-Christophe Baillie Mathieu Nottale Benoit Pothier URBI Tutorial for Urbi 1.0: (book compiled from Revision 245M) by Jean-Christophe Baillie, Mathieu Nottale, and Benoit Pothier Published Copyright © 2006-2007 Gostai™ This document is released under the Attribution-NonCommercial-NoDerivs 2.0 Creative Commons licence (http://creativecommons.org/licenses/ by-nc-nd/2.0/deed.en). Table of Contents 1. Introduction ................................................................................................................................... 1 2. Installing URBI .............................................................................................................................. 2 Installing the memorystick for Aibo ............................................................................................... 2 3. First moves .................................................................................................................................... 5 Setting and reading a motor value ................................................................................................. 5 Setting speed, time or sinusoidal movements ................................................................................... 6 Discovering variables .................................................................................................................. 6 General structure for variables ............................................................................................. -
An Application Example of Webots in Solving Control Tasks of Robotic System
An Application Example of Webots in Solving Control Tasks of Robotic System This paper presents some of the capabilities ofWebots-a robotics simulation software. Using Webots as the development environment one Petar Mandić can obtain model, program as well as simulate robots. First, key features PhD Student University of Belgrade and components of Webots are described and then it is presented how to Faculty of Mechanical Engineering construct a model of robotic system in it. Then, a control system is designed based on mathematical model of robot system in order to solve Mihailo Lazarević the problem of positioning of the end-effector. Results obtained in Webots Full Professor University of Belgrade enviroments are compared with those from Matlab/Simulink, so one can Faculty of Mechanical Engineering confirm the control system design procedure and accuracy of physics simulation. An example of more complex task that the robot manipulator needs to execute is given in the remainder of this paper. It is a so called Tower of Hanoi problem, where is particularly solved the inverse kinematics problem in detail. A part of C programming code which has been used for controlling the robot in Webots is explained at the end. Keywords: simulation software-Webots, robot control, simulation. 1. INTRODUCTION control given robotic system: Windows GUI Tool, Open source serial protocol & C library, Universal real time Robots today are making a considerable impact on behaviour interface, and Webots simulation package. In many aspects of modern life, from manufacturing to the remainder of this article, attention will be given to healthcare. Mobile robots, underwater and flying robots, the Webots simulation package.