Motion synchronization with predefined rhythms for humanoid robot

Phua Seong Hock, S. Parasuraman

    Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

    3 Citations (Scopus)

    Abstract

    In order to make a humanoid robot to resemble a human, individual behaviours are created based on simple primitive rules. These behaviours will be synchronized together to perform a more useful tasks. In this work, various robot behaviours that are required to play soccer using simple primitive rules are developed and these individual behaviours will be synchronized together so that the humanoid robot is able to play soccer autonomously. The behaviours created are separated into two categories namely object detection behaviours and motion behaviours. In object detection behaviours consists of Red Ball Detection which uses primitive rules of colour blob segmentation and depth estimation through trigonometric properties whereas Goal Post Detection uses the primitive rule of grid-based segmentation pattern learning and recognition. In motion behaviours consists of Scoring, Kip Up and Diving which uses the primitive rule of support polygon and centre of mass. Once these behaviours are designed and created, it is synchronized into two different roles namely player and keeper.

    Original languageEnglish
    Title of host publication2015 IEEE Recent Advances in Intelligent Computational Systems, RAICS 2015
    PublisherIEEE, Institute of Electrical and Electronics Engineers
    Pages294-299
    Number of pages6
    ISBN (Electronic)9781467366700
    DOIs
    Publication statusPublished - 2016
    EventIEEE Recent Advances in Intelligent Computational Systems 2015 - Trivandrum, Kerala, India
    Duration: 10 Dec 201512 Dec 2015
    https://ieeexplore.ieee.org/xpl/conhome/7484434/proceeding (Proceedings)

    Conference

    ConferenceIEEE Recent Advances in Intelligent Computational Systems 2015
    Abbreviated titleRAICS 2015
    Country/TerritoryIndia
    CityTrivandrum, Kerala
    Period10/12/1512/12/15
    Internet address

    Keywords

    • humanoid robot
    • humanoid robot soccer
    • motion synchronization
    • predefined behaviours
    • primitive rules

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