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robocup19 [2018/11/29 16:03] – s_7teji4robocup19 [2018/11/29 16:12] – s_7teji4
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   <li>Grasp the objects,</li>   <li>Grasp the objects,</li>
   <li>put the objects in the shelf,</li>   <li>put the objects in the shelf,</li>
-  <li>Open the door or ask for helpPlanning</li>+  <li>Open the door or ask for help</li>
 </ul> </ul>
-Planning connects perception, knowledge, manipulation and navigation by creating plans for the robot activities. Here, we develop generic strategies for the robot so that he can decide, which action should be executed in which situation and in which order. One task of planning is the failure handling and providing of recovery strategies.   To write the plans, we use the programming language lisp. 
     </h5>     </h5>
   </div>   </div>
 </html> </html>
 === Team === === Team ===
-{{ :robocupfiles:toya01.jpg?nolink&300| Toya }}+{{ :robocupfiles:toya01.jpg?nolink&150| Toya }}
 <html> <html>
 +<br>
   <p align="center" display="inline-block">   <p align="center" display="inline-block">
     Alina Hawkin <br> hawkin[at]uni-bremen.de     Alina Hawkin <br> hawkin[at]uni-bremen.de
Line 38: Line 38:
     Vanessa Hassouna <br> hassouna[at]uni-bremen.de     Vanessa Hassouna <br> hassouna[at]uni-bremen.de
   </p>   </p>
 +  <br>
 +  <br>
 </html> </html>
 === Methodology and implementation=== === Methodology and implementation===
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   Manipulation is the control of movements of joints and links of the robot. This allows the robot to make correct movements and accomplish orders coming from the upper layer. Depending on the values ​​received the robot can for example enter objects or deposit them.   Manipulation is the control of movements of joints and links of the robot. This allows the robot to make correct movements and accomplish orders coming from the upper layer. Depending on the values ​​received the robot can for example enter objects or deposit them.
 Giskardpy is an important library in the cacul of movements. The implementation of the manipulation is done thanks to the python language, ROS, and the iai_kinematic_sim and iai_hsr_sim libraries in addition to Giskardpy. Giskardpy is an important library in the cacul of movements. The implementation of the manipulation is done thanks to the python language, ROS, and the iai_kinematic_sim and iai_hsr_sim libraries in addition to Giskardpy.
 +  </p>
 +  <p><b><u>Planning</u>:</b><br>
 +  Planning connects perception, knowledge, manipulation and navigation by creating plans for the robot activities. Here, we develop generic strategies for the robot so that he can decide, which action should be executed in which situation and in which order. One task of planning is the failure handling and providing of recovery strategies.   To write the plans, we use the programming language lisp.
 +  </p>
 +  <p><b><u>Perception</u>:</b><br>
 +  The perception module has the task to process the visual data received by the robot's camera sensors. The cameras send point clouds forming the different objects in the robot's view port. By using frameworks such as RoboSherlock and OpenCV, the perception can calculate the geometric features of the scene. Based on this, it figures out, which point clouds could be objects of interest. It recognizes the shapes, colors and other features of objects and publishes this information to the other modules.
   </p>   </p>
   </div>   </div>
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