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Humanoid Robot NAO:Developing

Behaviors for Football Humanoid Robots

Lus Miranda Cruz

Supervisors: Prof. Lus Paulo Reis Prof. Armando Sousa

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Outline

RoboCup

FCPortugal

Tecnologies

Humanoid Nao

Simulator

The Problem

Behaviors

Behaviors Sequence

The Project

How?

Conclusion - Workplan

References

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Robocup

Robot Soccer World Cup

Leagues: Soccer, Rescue and @Home, RoboCupJunior

Promote research and education in Artificial Intelligence,

Robotics and related fields

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FCPortugal

RoboCup Team

Cooperation between Universities of Porto and Aveiro

Has participated in several RoboCup competitions

since 2000

Has won many awards

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FCPortugalRoboCup2000, Melbourne, Simulation2DLeague, Champions

European RoboCup2000, Amsterdam, Simulation2DLeague, Champions

German Open2001, Paderborn, SimulationLeague, Champions

RoboCup 2002, Fukuoka, CoachCompetitionLeague, Champions

European RoboCup 2006, Eindhoven, RescueSimul.League, Champions

European RoboCup 2006,Eindhoven, Simulation3DLeague, Champions

RoboCup Dutch Open 3D Champions - 2006

RoboCup World 3D Champions - 2006 3D

European RoboCup2007, Hannover, Simulation3DLeague, Champions

European RoboCup2008, Hannover, Simulation3DLeague, 3rdPlace

European RoboCup2009, Hannover, Simulation2DLeague, 3rdPlace

European RoboCup2009, Hannover, Simulation3DLeague, 3rdPlace

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Tecnologies - NAO

Humanoid

Aldebaran Robotics

21 degrees of freedom

Recently acquired byFEUP

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Tecnologies - Simulator

The Simspark

Simulator

Robocup 3D

simulation league

Uses humanoid

NAO

Useful for testing

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The problem

BehaviorsIn XML

Behaviors Sequences

A simple task can have many behaviors

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Behavior

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Behavior - KickLeft

(...)

(...)

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Walk straight tothe ball position

Walk to the ballposition makinga smooth curve

Walk sidewayaround the ball

Front kick theball

Front kick theball

Kick Right

GOAL

GOAL

GOAL

Go to the ball and kick it

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Behaviors Sequence - Example

http://localhost/Volumes/EXCHANGE/0Universidade/Dissertac%CC%A7a%CC%83o/Apresentac%CC%A7o%CC%83es/nao.ogvhttp://localhost/Volumes/EXCHANGE/0Universidade/Dissertac%CC%A7a%CC%83o/Apresentac%CC%A7o%CC%83es/nao.ogvhttp://localhost/Volumes/EXCHANGE/0Universidade/Dissertac%CC%A7a%CC%83o/Apresentac%CC%A7o%CC%83es/nao.ogvhttp://localhost/Volumes/EXCHANGE/0Universidade/Dissertac%CC%A7a%CC%83o/Apresentac%CC%A7o%CC%83es/nao.ogvhttp://localhost/Volumes/EXCHANGE/0Universidade/Dissertac%CC%A7a%CC%83o/Apresentac%CC%A7o%CC%83es/nao.ogvhttp://localhost/Volumes/EXCHANGE/0Universidade/Dissertac%CC%A7a%CC%83o/Apresentac%CC%A7o%CC%83es/nao.ogv

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The project

Find a way to get the most efficient

behavior sequence for each task ofNAO with regard to the environment.

It must work simultaneously in simulatedenvironment and with the real Nao.

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How?

Reusing and improving the behaviors developed by

FCPortugal.

Using well known AI optimization algorithms to find thebest sequence

for example, hill climbing, genetic algorithm,

simulated annealing, and many others.Besides executing the moves with high efficiency, NAO

will choose the ones that fit best.

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Conclusion - Work Plan

Bibliographic research (4 weeks).

Study NAO, define and implement behaviors (6 weeks).

Classificate and test behaviors (3 weeks).

Interconnection and sequences of behaviors (2 weeks).

Write thesis (4 weeks).

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ReferencesPicado, Hugo; "Development of Behaviors for a Simulated Humanoid Robot".

PhD thesis, University of Aveiro, 2008.

Reis, Lus Paulo; Lau, Nuno; "Paper Contributions, Results and Work for the

Simulation Community of FC Portugal".

Lau, Nuno; Reis, Luis Paulo; Picado, Hugo; Almeida, Nuno; "FCPortugal:

Simulated humanoid robot team description proposal for robocup 2008". In

Proceedings CD of RoboCup 2008, 2008.

Picado, Hugo; "FCPortugal3D A team of RoboCup 3D Simulation League".

IEETA, University of Aveiro, 2009.

Dominey, Peter Ford; Lallee, Stephane; Khamassi, Mehdi; Lu, Zhenli; Lallier,

Corentin; Boucher, Jean-David; Weitzenfeld, Alfredo; Ramos, Carlos;"Cooperative Human Robot Interaction with the Nao Humanoid: Technical

Description Paper for the Radical Dudes"

Reis, Lus Paulo; Lau, Nuno; "Coordination Methodologies Developed for FC

Portugal 3D 2006 Team". In Proceedings CD of RoboCup 2006, 2006.

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Humanoid Robot NAO:Developing

Behaviors for Football Humanoid Robots

Lus Miranda Cruz

Supervisors: Prof. Lus Paulo Reis Prof. Armando Sousa