Robocup Team @Home League | Institutions | RWU Hochschule Ravensburg-Weingarten University of Applied Sciences

Profile

Wouldn't that be nice: Enjoying a party with friends in the evening and the apartment tidies up all by itself overnight? At Robocup@Home you can help make this vision a reality!

Whether it's clearing the table, vacuuming, washing up or doing the laundry, everything is done by the friendly helper made of plastic and metal. The teams in the Robocup@Home are getting closer to this goal every year - even if there is still a lot of work to be done before the iRobot is finished.

The @Home league has been held in the Robocup since 2006. The goal: to create an assistant that can independently find intelligent solutions to any problem in environments with changing requirements - a task that even humans are sometimes overwhelmed by. The conditions for the competition are correspondingly demanding.

Every year there is a new playing field and different tasks. The teams only find out the final conditions for the competition arena and the objects that play a role in the tasks two days before the start of the competition. This prevents the robots from being adapted too much to the respective problems in advance.

Robocup@Home therefore takes a different approach to the soccer leagues: There, both the playing field and the tasks are precisely specified, but the very complex moves have to be dynamically adapted to the opponent's behavior. In the @Home league, on the other hand, the playing field corresponds to a small apartment with several rooms and random furnishings. The tasks are randomly generated in the advanced competition parts and may even contain errors that the robot must recognize independently. However, the individual actions are then - at least on the surface - simple and clearly defined, such as: "Find a bag of potato chips in the kitchen and take them to the table in the dining room".

More info on the @Home league: https://www.heise.de/ct/artikel/Die-alltaeglichen-Probleme-eines-Roboter-Butlers-3738415.html

Rulebook of the last championship: https://athome.robocup.org/wp-content/uploads/2019_rulebook.pdf

Software

All published software packages can be viewed at https://github.com/iki-wgt. Further publications are planned and are currently under review.

Publications

All publications of the Institute for Artificial Intelligence can be found at https://forschung.rwu.de/institute/iki.

Hardware

Roll low cost DIY intelligent walker

Platform Dietz TAiMA wheeled walker
Wheel hub Motors and Battery: From an ordinary 8 inch hoverboard
Motor controller: Odrive V3.5 from Odriverobotics -> https://github.com/neomanic/odrive_ros
Raspberry Pi 4
3D Sensor: Orbbec Astra
IR Sensors: SHARP (2y0a02, 2y0a21, 0a41sk)

If you are interested, please contact Benjamin Kathan ( kathanbe@rwu.de )