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Portfolios
胡家瑜
RoboCup 2016 German Humanoid Robot Co...
RoboCup 2016 German Humanoid Robot Competition
RoboCup 2016 German Humanoid Robot Competition
By
胡家瑜
主辦工程師
・
Taichung City, Taiwan
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Background: 一年一度的國際機器人競賽,競賽的目的是通過提出一個有吸引力的但艱鉅的挑戰來促進機器人技術和AI研究。 Function: Robot需具備人型雙足及整合視覺,進行足球的進攻與防守競賽。 Results: 藉由視覺辨識比賽場地的足球、球門、場地線、對手機器人等資訊,搭配自身累計里程計及方位等資訊,基於以上資訊,完成在比賽過程中的進攻與防守決策,同時透過WIFI與二對二的另一名隊友進行溝通,讓進攻更為多變。 Video link: https://www.youtube.com/watch?v=JFgrPwLXPGU Skills: 1.VS MFC (Windows architecture) 2.OpenCV (影像辨識) 3.MCU Arduino (人型雙足步態及累計步態里程數) 4.IMU (步態傾倒偵測及方位資訊) 5.電源系統 (鋰電池) 6.競賽決策與機器人通信合作 Difficulties: 1.場地所有標誌物皆為白色,透過演算法區分物件 2.競賽過程中,條件多變,FSM使進攻與防守決策高效率
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胡家瑜
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Published: Feb 2nd 2020
30
2
0
Arduino
Visual Studio
C/C++
OpenCV
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Other works from
胡家瑜
IRHOCS 2015 Competition Wheel Robot
Industrial 6-DOF Manipulator