soccer robot turtle-5k - how and why we developed a soccer robot for everybody (may 2014)
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Turtle-5k: How and why we developed a soccer robot for everybody
Niels Koenraad
Content
• Robocup
• Tech United
• The TURTLE-5K project / team • Hardware design
• Software design
• Robotic Open Platform
TURTLE-5K PAGE 1 27-4-2014
Robocup tournament
• Soccer league
• Small, mid, standard, humanoid
• @ Home league
• Rescue league
• Many more
TURTLE-5K PAGE 2 27-4-2014
Robocup – Soccer league
TURTLE-5K PAGE 3 27-4-2014
Robocup - @Home league
TURTLE-5K PAGE 4 27-4-2014
Robocup – Rescue league
TURTLE-5K PAGE 5 27-4-2014
Tech United – TU/e
• Mid size league: TURTLES
• World champion 2012 • 5x Vice-world champion
• @Home league: AMIGO
• Humanoid league: TULIP
TURTLE-5K PAGE 6 27-4-2014
Tech United – TU/e
TURTLE-5K PAGE 7 27-4-2014
The TURTLE-5K project / team
• Consortium
• Why are we building this robot?
• Open source • Hardware • Software
• MSL Robot for sale
• First team already sold!
• Cost reduction 25k -> 5k
TURTLE-5K PAGE 8 27-4-2014
Hardware design
• Performance of TURTLE from 2012
• Open source - ROP
• Large quantity production
• Cost reducing production techniques
• Examples: Vision, Base, PC, Ball Handling
TURTLE-5K PAGE 9 27-4-2014
Vision- redesign
• TURTLE
• Industrial vision camera • TURTLE-5k
• Consumer webcam
• Saved ± €700 TURTLE-5K PAGE 10 27-4-2014
Vision- redesign
TURTLE-5K PAGE 11 27-4-2014
Base plate - redesign
• TURTLE
• Aluminum • 40 hours of milling
• TURTLE-5K • Steel • Sheet metal, fast assembly
• Saved ± €1500
TURTLE-5K PAGE 12 27-4-2014
Base plate - redesign
TURTLE-5K PAGE 13 27-4-2014
Base plate - redesign
TURTLE-5K PAGE 14 27-4-2014
Computer & IO - redesign
• TURTLE
• Industrial PC • Beckhoff EtherCAT stack
• TURTLE-5k • Consumer PC • Serial communication
• Saved ± €2500
TURTLE-5K PAGE 15 27-4-2014
Computer & IO - redesign
TURTLE-5K PAGE 16 27-4-2014
Ball handling - redesign
• TURTLE
• Complicated design • Needs to be repositioned during milling
• TURTLE-5K • Simple design • No need for repositioning during milling
• Saved ± €3500
TURTLE-5K PAGE 17 27-4-2014
Ball handling - redesign
TURTLE-5K PAGE 18 27-4-2014
Ball handling - redesign
• Simpler design
TURTLE-5K PAGE 19 27-4-2014
New design
TURTLE-5K PAGE 20 27-4-2014
Software design
• TURTLE-5K team
• ROS • Open source
• OROCOS • Real time motion control • Used in domestic robot − Library (Boris Mrkajic)
TURTLE-5K PAGE 21 27-4-2014
Robotic Open Platform
• Open source hardware platform
• Exchange hardware designs
• Generalized templates
• www.roboticopenplatform.org
TURTLE-5K PAGE 22 27-4-2014
Summary
• The TURTLE-5K project
• Hardware design • Reducing costs to €5000,-
• Software design TURTLE-5K team • ROS • OROCOS
• Robot Open Platform
• Open source hardware design and drawings
TURTLE-5K PAGE 23 27-4-2014
Questions?
TURTLE-5K PAGE 24 27-4-2014
Questions? Robocup
Tech United
The TURTLE-5K Project
Hardware design
Example: Vision
Example: Base
Example: PC & IO
Example: Ball Handling
Software design
Robotic Open Platform
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