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

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Robocup tournament

• Soccer league

• Small, mid, standard, humanoid

• @ Home league

• Rescue league

• Many more

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Robocup – Soccer league

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Robocup - @Home league

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Robocup – Rescue league

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Tech United – TU/e

• Mid size league: TURTLES

• World champion 2012 • 5x Vice-world champion

• @Home league: AMIGO

• Humanoid league: TULIP

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Tech United – TU/e

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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

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Hardware design

• Performance of TURTLE from 2012

• Open source - ROP

• Large quantity production

• Cost reducing production techniques

• Examples: Vision, Base, PC, Ball Handling

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Vision- redesign

• TURTLE

• Industrial vision camera • TURTLE-5k

• Consumer webcam

• Saved ± €700 TURTLE-5K PAGE 10 27-4-2014

Vision- redesign

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Base plate - redesign

• TURTLE

• Aluminum • 40 hours of milling

• TURTLE-5K • Steel • Sheet metal, fast assembly

• Saved ± €1500

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Base plate - redesign

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Base plate - redesign

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Computer & IO - redesign

• TURTLE

• Industrial PC • Beckhoff EtherCAT stack

• TURTLE-5k • Consumer PC • Serial communication

• Saved ± €2500

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Computer & IO - redesign

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Ball handling - redesign

• TURTLE

• Complicated design • Needs to be repositioned during milling

• TURTLE-5K • Simple design • No need for repositioning during milling

• Saved ± €3500

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Ball handling - redesign

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Ball handling - redesign

• Simpler design

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New design

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Software design

• TURTLE-5K team

• ROS • Open source

• OROCOS • Real time motion control • Used in domestic robot − Library (Boris Mrkajic)

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Robotic Open Platform

• Open source hardware platform

• Exchange hardware designs

• Generalized templates

• www.roboticopenplatform.org

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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

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Questions?

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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