TY - GEN
T1 - ROS Based Software Framework for Kid-Size Humanoid Marathon Robot
AU - Jamzuri, Eko Rudiawan
AU - Mandala, Hanjaya
AU - Baltes, Jacky
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - 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.
AB - 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.
KW - convnet object detection
KW - humanoid robot
KW - hurocup marathon
KW - robot operating system
KW - robot software framework
UR - http://www.scopus.com/inward/record.url?scp=85095446373&partnerID=8YFLogxK
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U2 - 10.1109/ICAE47758.2019.9221733
DO - 10.1109/ICAE47758.2019.9221733
M3 - Conference contribution
AN - SCOPUS:85095446373
T3 - Proceedings of the 2019 2nd International Conference on Applied Engineering, ICAE 2019
BT - Proceedings of the 2019 2nd International Conference on Applied Engineering, ICAE 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd International Conference on Applied Engineering, ICAE 2019
Y2 - 2 October 2019 through 3 October 2019
ER -