Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revisionPrevious revision
Next revision		Previous revision
Next revisionBoth sides next revision
robocup19 [2018/11/29 16:03] – s_7teji4robocup19 [2018/11/29 21:49] – s_7teji4
Line 11: Line 11:
   <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>
-</html> +  <br> 
-=== Methodology and implementation===+  <br> 
 + </html>  
 +===Methodology and implementation===
 <html> <html>
   <div display="inline-block">   <div display="inline-block">
Line 45: Line 47:
     <p><b><u>Navigation</u>:</b><br>     <p><b><u>Navigation</u>:</b><br>
 In order to perform the task, the robot needs to be able to autonomously and safely navigate within the world. This includes the generation of a representation of its surroundings as a 2D map, so that a path can be calculated to navigate the robot from point A to point B. Collision avoidance of objects which are not accounted for within the map, e.g. movable objects like chairs or people who cross the path of the robot, have to be accounted for and reacted to accordingly as well. The combination of all these aspects allows for a safe navigation of the robot within the environment. In order to perform the task, the robot needs to be able to autonomously and safely navigate within the world. This includes the generation of a representation of its surroundings as a 2D map, so that a path can be calculated to navigate the robot from point A to point B. Collision avoidance of objects which are not accounted for within the map, e.g. movable objects like chairs or people who cross the path of the robot, have to be accounted for and reacted to accordingly as well. The combination of all these aspects allows for a safe navigation of the robot within the environment.
 +<iframe width="560" height="315" src="https://www.youtube.com/embed/pdhZrSwF7dA" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
  </p>  </p>
   <p><b><u>Manipulation</u>:</b><br>   <p><b><u>Manipulation</u>:</b><br>
   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>
 +  </html>{{ :robocupfiles:objects_perception01.png?nolink&200 |}}<html>
 +  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>
- Impressum - Datenschutz



Prof. Dr. hc. Michael Beetz PhD
Head of Institute

Contact via
Andrea Cowley
assistant to Prof. Beetz
ai-office@cs.uni-bremen.de

Discover our VRB for innovative and interactive research


Memberships and associations:


Social Media: