ROS Based Software Framework for Kid-Size Humanoid Marathon Robot

Eko Rudiawan Jamzuri; Hanjaya Mandala; Jacky Baltes

doi:10.1109/ICAE47758.2019.9221733

ROS Based Software Framework for Kid-Size Humanoid Marathon Robot

Eko Rudiawan Jamzuri, Hanjaya Mandala, Jacky Baltes

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

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 language	English
Title of host publication	Proceedings of the 2019 2nd International Conference on Applied Engineering, ICAE 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781728128078
DOIs	https://doi.org/10.1109/ICAE47758.2019.9221733
Publication status	Published - 2019 Oct
Event	2nd International Conference on Applied Engineering, ICAE 2019 - Batam, Indonesia Duration: 2019 Oct 2 → 2019 Oct 3

Publication series

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

Conference

Conference	2nd International Conference on Applied Engineering, ICAE 2019
Country/Territory	Indonesia
City	Batam
Period	2019/10/02 → 2019/10/03

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

Access to Document

10.1109/ICAE47758.2019.9221733

Cite this

Jamzuri, E. R., Mandala, H., & Baltes, J. (2019). ROS Based Software Framework for Kid-Size Humanoid Marathon Robot. In Proceedings of the 2019 2nd International Conference on Applied Engineering, ICAE 2019 Article 9221733 (Proceedings of the 2019 2nd International Conference on Applied Engineering, ICAE 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICAE47758.2019.9221733

ROS Based Software Framework for Kid-Size Humanoid Marathon Robot. / Jamzuri, Eko Rudiawan; Mandala, Hanjaya; Baltes, Jacky.
Proceedings of the 2019 2nd International Conference on Applied Engineering, ICAE 2019. Institute of Electrical and Electronics Engineers Inc., 2019. 9221733 (Proceedings of the 2019 2nd International Conference on Applied Engineering, ICAE 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Jamzuri, ER, Mandala, H & Baltes, J 2019, ROS Based Software Framework for Kid-Size Humanoid Marathon Robot. in Proceedings of the 2019 2nd International Conference on Applied Engineering, ICAE 2019., 9221733, Proceedings of the 2019 2nd International Conference on Applied Engineering, ICAE 2019, Institute of Electrical and Electronics Engineers Inc., 2nd International Conference on Applied Engineering, ICAE 2019, Batam, Indonesia, 2019/10/02. https://doi.org/10.1109/ICAE47758.2019.9221733

Jamzuri ER, Mandala H, Baltes J. ROS Based Software Framework for Kid-Size Humanoid Marathon Robot. In Proceedings of the 2019 2nd International Conference on Applied Engineering, ICAE 2019. Institute of Electrical and Electronics Engineers Inc. 2019. 9221733. (Proceedings of the 2019 2nd International Conference on Applied Engineering, ICAE 2019). doi: 10.1109/ICAE47758.2019.9221733

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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.",

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ROS Based Software Framework for Kid-Size Humanoid Marathon Robot

Abstract

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Keywords

ASJC Scopus subject areas

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