scholarly journals Development of Ball Detection System with YOLOv3 in a Humanoid Soccer Robot

2021 ◽  
Vol 2111 (1) ◽  
pp. 012055
Author(s):  
A C Nugraha ◽  
M L Hakim ◽  
S Yatmono ◽  
M Khairudin
Keyword(s):  
Humanoid Robot ◽  
Detection System ◽  
Humanoid Robots ◽  
Test Results ◽  
Soccer Robot ◽  
Robot Soccer ◽  
Is Research ◽  
Field Boundaries ◽  
Basic Ability ◽  
Ball Detection

Abstract One of the practical researches of humanoid robots is research on the use of humanoid robots to play soccer. Research in this field is also encouraged by the existence of various humanoid robot soccer competitions. In humanoid robots for soccer, one of the important aspects is the robot’s ability to detect the ball, goal, field boundaries and other players, both friend players and opposing players. This study focuses on the ball detection system which is a basic ability that humanoid robots need to have. The ball detection system developed in this study uses the YOLOv3 method. The test results show that the system built and trained with 3000 image samples can detect balls at a distance of 50 to 900 cm. The time it takes to detect the ball is about 0.033 seconds.

DEVELOPMENT OF A HIGH-PERFORMANCE HUMANOID SOCCER ROBOT

2008 ◽  
Vol 05 (03) ◽  
pp. 353-373 ◽  
Author(s):  
REO MATSUMURA ◽  
HIROSHI ISHIGURO
Keyword(s):  
Decision Making ◽  
Data Processing ◽  
High Performance ◽  
Humanoid Robot ◽  
Developmental Process ◽  
Humanoid Robots ◽  
Soccer Robot ◽  
World Cup ◽  
Robot Soccer ◽  
Sensory Data

The RoboCup, which is a worldwide robot soccer competition, has set an ambitious goal for itself: to have a humanoid robot team win against human teams in World Cup Soccer by 2050. In order to achieve this goal, the robots require highly sophisticated sensory-data processing and decision-making functions. The development of robots for the RoboCup Humanoid League also has significant meaning for the development of robotics. However, this development is not easy and there are few papers covering it and its design policy. This paper reports the design policy for humanoids developed by Team Osaka, whose robots have been selected as the best humanoid robots four times in the last four years. In addition to the design policy, this paper also reports on the developmental process and comparisons among humanoid versions developed by Team Osaka. We believe that this paper will offer much information to other researchers who are developing humanoids for the RoboCup.

scholarly journals Technique of Standing Up From Prone Position of a Soccer Robot

2018 ◽  
Vol 6 (1) ◽  
pp. 124-136 ◽  
Author(s):  
Nur Khamdi ◽  
Mochamad Susantok ◽  
Antony Darmawan
Keyword(s):  
Prone Position ◽  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Humanoid Robots ◽  
Soccer Robot ◽  
Robot Soccer ◽  
The Real ◽  
Limited Movement ◽  
Standing Up ◽  
Real Robot

One of the humanoid robots being developed in the field of sports is a soccer robot. A soccer robot is a humanoid robot that can perform activities such as playing football. And a variety method fall down of robot soccer such: falling down toward the front direction, side direction, and rear direction. This paper describes the most stands up methods of a soccer robot from its prone position. The proposed method requires only limited movement with degrees of freedom. The movement standing-up of soccer robot has been implemented on the real robot. Tests we performed showed that reliable standing-up from prone position is possible after a fall and such recovery procedures greatly improve the overall robustness of a Soccer Robot.

A Study on Fuzzy Control of Humanoid Soccer Robot EFuRIO for Vision Control System and Walking Movement

2012 ◽  
Vol 16 (3) ◽  
pp. 444-452
Author(s):  
Indra Adji Sulistijono ◽  
◽  
Son Kuswadi ◽  
One Setiaji ◽  
Inzar Salfikar ◽  
...  
Keyword(s):  
Fuzzy Logic Control ◽  
Humanoid Robot ◽  
Vision System ◽  
Humanoid Robots ◽  
Soccer Robot ◽  
Balance Condition ◽  
Logic Control ◽  
Control Scheme ◽  
Vision Control ◽  
The Stability

Instability is one of the major defects in humanoid robots. Recently, various methods on the stability and reliability of humanoid robots have been studied actively. We propose a new fuzzy-logic control scheme for vision systems that would enable a robot to search for and to kick a ball towards an opponent goal. In this paper, a stabilization algorithm is proposed using the balance condition of the robot, which is measured using accelerometer sensors during standing and walking, and turning movement are estimated from these data. From this information the robot selects the appropriate motion pattern effectively. In order to generate the appropriate reaction in various body of robot situations, a fuzzy algorithm is applied in finding the appropriate angle of the joint from the vision system. The performance of the proposed algorithm is verified by searching for a ball, walking, turning tap and ball kicking movement experiments using an 18-DOF humanoid robot, called EFuRIO.

3D MODELS OF HUMANOID SOCCER ROBOT IN USARSim AND ROBOTICS STUDIO SIMULATORS

2008 ◽  
Vol 05 (03) ◽  
pp. 523-546 ◽  
Author(s):  
EMANUELE MENEGATTI ◽  
GIOVANNI SILVESTRI ◽  
ENRICO PAGELLO ◽  
NICOLA GREGGIO ◽  
ANTONIO CISTERNINO ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Humanoid Robots ◽  
3D Models ◽  
Soccer Robot ◽  
Soccer Match ◽  
Virtual Models ◽  
And Robotics ◽  
Soccer Robots ◽  
Robot Platform

This paper describes our experience in the simulation of humanoid soccer robots using two general purposes 3D simulators, namely USARSim and Microsoft Robotics Studio. We address the problem of the simulation of a soccer match among two teams of small humanoid robots in the RoboCup Soccer Kid-Size Humanoid competitions. The paper reports the implementation of the virtual models of the Robovie-M humanoid robot platform in the two simulators. Robovie-M was the robot used by our team "Artisti" in the RoboCup 2006 competitions. This paper focuses on the procedures needed to implement the virtual models of the robot and in the details of the models. We describe experiments assessing the feasibility and the fidelity of the two simulators.

scholarly journals Application of Deep Learning Convolution Neural Network Method on KRSBI Humanoid R-SCUAD Robot

2020 ◽  
Vol 2 (1) ◽  
pp. 40
Author(s):  
Syahid Al Irfan ◽  
Nuryono Satya Widodo
Keyword(s):  
Neural Network ◽  
Convolutional Neural Network ◽  
Real Time ◽  
Architectural Design ◽  
Humanoid Robots ◽  
White Ball ◽  
Test Results ◽  
Object Classes ◽  
Hidden Layer ◽  
Ball Detection

In a soccer game the ability of humanoid robots that one needs to have is to see the ball object in real time. Development of the ability of humanoid robots to see the ball has been developed but the level of accuracy of object recognition and adaptation during matches still needs to be improved. The architecture designed in this study is Convolutional Neural Network or CNN which is designed to have 6 hidden layers with implementation of the robot program using the Tensorflow library. The pictures taken are used in the training process to have 9 types of images based on where the pictures were taken. Each type of image is divided into 2 classes, namely 2000 images for ball object classes and 2000 images for non-ball object classes. The test is done in real time using a white ball on green grass. From the architectural design and white ball detection test results obtained a success rate of 67%, five of the nine models managed to recognize the ball. The model can recognize objects with an image processing speed of a maximum of 13 FPS.Dalam pertandingan sepak bola kemampuan robot humanoid yang perlu dimiliki salah satunya adalah melihat objek bola secara real time. Pengembangan kemampuan robot humanoid untuk melihat bola telah dikembangkan tetapi tingkat akurasi pengenalan objek dan adaptasi saat pertandingan masih perlu ditingkatkan. Arsitektur yang dirancang pada penelitian ini yaitu Convolutional Neural Network atau CNN yang dirancang memiliki 6 hidden layer dengan implementasi pada program robot menggunakan library Tensorflow. Gambar yang diambil digunakan dalam proses training memiliki 9 jenis gambar berdasarkan tempat pengambilan gambar. Tiap jenis gambar terbagi menjadi 2 class yaitu 2000 gambar untuk class objek bola dan 2000 gambar untuk class objek bukan bola. Pengujian dilakukan secara real time dengan menggunakan bola berwarna putih di atas rumput hijau. Dari perancangan arsitektur dan hasil pengujian pendeteksian bola putih didapatkan persentase keberhasilan 67% yaitu lima dari sembilan model berhasil mengenali bola. Model dapat mengenali objek dengan kecepatan pengolahan gambar adalah maksimal 13 FPS.

THE INFLUENCE OF INQUIRY AND DISCOVERY LEARNING METHOD AND CREATIVITY LEVEL IN WRITING SKILLS DESCRIPTION IN NAUTIC TARUNA AND TECHNIQUE IN SURABAYA SHIPPING POLYTECHNIC

2020 ◽  
Vol 8 (1) ◽  
Author(s):  
Ni Putu Dian Permata Prasetyaningrum
Keyword(s):  
Quantitative Methods ◽  
Writing Skills ◽  
Discovery Learning ◽  
Learning Method ◽  
Test Results ◽  
Learning Methods ◽  
Is Research ◽  
Investigation Methods ◽  
High Level ◽  
Discovery Method

Surabaya Shipping Polytechnic emphasizes on certain areas of expertise that Taruna must possess. This is the basis after graduating from shipping polytechnics, cadets must have expertise and skills. The purpose of this study was to study the effect of inquiry, discovery learning, and creativity levels on the ability to write descriptive essays on nautical and technical cadets at Surabaya Shipping Polytechnic. This type of research is research. This research uses quantitative methods using experiments. The location used in this research is Surabaya Shipping Polytechnic. The subjects in this study were the cadets of the Nautika A, Nautika B, Teknika A, and Teknika B. classes. Based on the results of the research and discussion, the following conclusions are obtained: There are those that can be solved looking for description essays in the cadets. learning discovery method. The test results show better investigation methods than the discovery of learning, There is a difference in the ability to write a description essay about cadets who have a high level of creativity with cadets who have a low level of creativity, the test results show better who have a high level of creativity, there are related with learning methods and descriptions of the ability to write essay descriptions, the test results show learning methods and creativity descriptions of the ability to write essay descriptions.

PENINGKATAN FLUENCY DAN ELABORATION DENGAN MODIFIED FREE INQUIRY

EDUDEENA ◽  
2017 ◽  
Vol 1 (1) ◽  
Author(s):  
Agus Miftakus Surur
Keyword(s):  
Research Method ◽  
Positive Response ◽  
Lesson Plan ◽  
Class Action ◽  
Material Research ◽  
Test Results ◽  
Student Activity ◽  
Free Inquiry ◽  
Is Research ◽  
Research Type

Researchers chose a modified free inquiry model to help improve students’ fluency and elaboration. The purpose of this research is to know the application of modified free inquiry which can improve the student’s fluency and elaboration of students’ thinking on trigonometric material. Research method in this research is qualitative research method and research type is research of class action. The data in this study were obtained from the results of validation, test results, observation of teacher and student activity, and interview result, then apply data triangulation and theory to check the validity of data. The results showed an increase in fluency and elaboration in students. This means that a modified free inquiry model can help improve students’ fluency and elaboration in trigonometric learning. The results are supported by the observation of teacher and student activity that is in accordance with the lesson plan and also the result of the interview which get positive response from the students.Keywords: modified free inquiry, fluency and elaboration, mathematics

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