GEERHEAD
“For the actual kick, we then have
a kick engine based on a keyframe
idea. Each kick is specified as a series
of frames where each frame contains
the joint locations for all of the
robot’s joints, as well as the time
elapsed to the next frame,” explains
Chown. “At its heart, our goal is to
tell the robot 60 times a second what
its joint angles should be. Meanwhile,
30 times a second it is giving us a
vision frame.”
To see the ball, the Aibos do
repeated scans of every image using
a basic vision algorithm, first scanning
from top to bottom then from left
to right. This scanning collects and
differentiates between runs of color.
The software then places the runs
together into blobs using run-length
encoding.
Precision CNC
Machining
When you’re serious about hardware, you need serious tools.
Whether milling 0.020” traces on prototype PCBs or cutting ½”
steel battle armor, this CNC mill can do it all. Weighing in at more
than 1100 lbs, the PCNC can deliver the hardware end of your
combined hardware & software projects.
Conclusion
It is unique to see a relatively new
undergraduate team from a liberal arts
college beat the top graduate schools
in the RoboCup competition. And that’s
exactly what the Northern Bites did.
The Northern Bites team will compete
at the US Open in Pittsburgh at the
end of May 2008 and at the world
championships in China in July. SV
Tormach PCNC 1100 Features:
Table size 34" x 9. 5"
R8 Spindle 1.5 hp variable speed to 4500 RPM
Computer controlled spindle speed and direction
Precision ground ballscrews
Digitizing and tool sensing support
4th axis and high speed spindle options
3 Axis Mill
$6800
plus shipping
Mill includes Control, CAD and CAM
software. Optional stand, coolant system,
computer and accessories are extra.
Product information and online ordering at www.tormach.com
RESOURCES
Bowdoin College
www.bowdoin.edu
Bowdoin College, RoboCup
www.bowdoin.edu/computer-science/robotics/robocup/
Bowdoin College Robotics
www.bowdoin.edu/computer-science/robotics
Procedures for repairing Aibo
necks as published by Jörg Zimmer
from the University of Darmstadt,
Germany, and approved by
RoboCup
www.student.informatik.tu-darm
stadt.de/~zimmer_j/case-legs.htm
www.student.informatik.tu-darm
stadt.de/~zimmer_j/neck-tilt.htm”
SERVO 05.2008 13
