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This caused the AIBO to walk sideways in a circle around the ball. During this time, it was able to keep its head pointed straight ahead so that it could stop when it saw the goal. Chin Pinch Turn This is a motion which lowers the head (to a tilt angle of −55◦ ) to trap the ball below the chin, and then turns some number of degrees while the ball is trapped there. Once we had localization in place, this replaced the strafe function just described, because it is both faster and more reliable at not losing the ball.

4) When doing a second pass for the goal search, we relax the constraints slightly but proportionately a lower likelihood measure gets assigned to the goal, if detected. 5. r Ball-specific calculations: (1) We use the ‘tilt-angle test’ to eliminate spurious blobs from consideration. (2) In most cases, the ball is severely occluded, precluding the use of the aspect ratio test. Nonetheless, we first search for an orange object with a high density and an aspect ratio (1:1) that would detect the ball if it is seen completely and not occluded.

This section formalizes that process. The kick is an example of a fine-motor control motion where small errors matter. Creation of a kick requires special attention to each Pose. A few angles’ difference could affect whether the robot makes contact with the ball. Even a small difference in t in a Move could affect the success of a kick. To make matters more complicated, our team needed the kick to transition from and to a walk. More consideration had to be taken to ensure that neither the walk nor the kick disrupted the operation of the other.

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Airbus A320 SOP 06Cruise


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