ROS Based Software Framework for Kid-Size Humanoid Marathon Robot

Eko Rudiawan Jamzuri, Hanjaya Mandala, Jacky Baltes

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

Abstract

This paper presents a ROS based software framework for kid-size humanoid marathon robot. Marathon track identification was solved by using colour filtering and contour selection approach. Two-stages ConvNet object detection algorithm with colour-based region proposal was proposed to recognize a marker with train accuracy 99.92% and validation accuracy 99.87%. The ConvNet based object detector is run on a mini-computer with Intel Core i3 processor and reached 41.13 FPS processing speed. In order to perform behaviour control, the robot implemented a PID controller for head movement and a proportional controller for line follower behaviour. Finite State Machine is used to control high-level behaviour for performing navigation in the marathon track. The proposed software framework was applied to robot that won the Iran FIRA RoboWorldCup Open 2019 and Taiwan Humanoid 2019 competition.

Original languageEnglish
Title of host publicationProceedings of the 2019 2nd International Conference on Applied Engineering, ICAE 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728128078
DOIs
Publication statusPublished - 2019 Oct
Event2nd International Conference on Applied Engineering, ICAE 2019 - Batam, Indonesia
Duration: 2019 Oct 22019 Oct 3

Publication series

NameProceedings of the 2019 2nd International Conference on Applied Engineering, ICAE 2019

Conference

Conference2nd International Conference on Applied Engineering, ICAE 2019
CountryIndonesia
CityBatam
Period2019/10/022019/10/03

Keywords

  • convnet object detection
  • humanoid robot
  • hurocup marathon
  • robot operating system
  • robot software framework

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Engineering (miscellaneous)
  • Waste Management and Disposal
  • Control and Optimization

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