soccer robot turtle-5k - how and why we developed a soccer robot for everybody (may 2014)
DESCRIPTION
For several years the Tech United team from the University of Eindhoven has been one of the most dominating teams in the Robocup Middle Size League (MSL). In 2012 they became world champion. In 2013 they were very close but lost in the extra time of the finals. Every year you can see the same teams fighting for the title, even though the software and drawings are made open source after every tournament the less developed teams cannot keep up with the top teams. There are several reasons why they cannot keep up. Some teams simply do not have enough budget, others do not have the knowledge or capacity to build a robust robot or they have mostly software engineers and no mechanical or electrical engineers. This is where the Turtle-5K project kicks in, an affordable MSL robot redesigned by ACE (hardware), VEDS (electronics), Frencken (production/assembly) and the TUE (software) for these specific teams. The goal of the project is to build a robot that has the same specifications as the 2012 world champion of Tech United (called Turtle) but for 20 percent of the cost price. This meant a cost price reduction from 25 thousand to 5 thousand euro, hence the name Turtle-5K. During the presentation Niels Koenraad will show how he and his team achieved this goal and will go into more technical detail of the robot. This includes the open source software they used and developed for this robot.TRANSCRIPT
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