KIKS 2009 Team Description
Ryuhei Sato1, Takato Horii1, Yutaka Yamada1, Shusuke Teshima1,Hisayoshi Hattori1, Masato Watanabe1, Kazuaki Ito1 and Toko Sugiura1
1
Toyota National College of Technology,
Department of Electrical and Electronic engineering,
2-1 Eisei-cho, Toyota Aichi, 471-0067, Japansugi@toyota-ct.ac.jp
URL：http://www.ee.toyota-ct.ac.jp/~masa/2009/kiks2.htm

Abstract. This paper is used to qualify as participation to the RoboCup 2009
small-size league (SSL) about team “KIKS”. Our robot is designed under theRules 2009 in order to participate in the SSL competition held in Graz, Austria.
The overview is described for robots’ hardware and software of our team.
Keywords: RoboCup, Small-size league, Image processing, Motion control,Artificial Intelligence.

1Introduction

Main purpose of our participation to the RoboCup world competition isconfirmation and evaluation of the result of the PBL (Project Based Learning)experiments. Our team has participated for five years since 2004, continuously. We
have no win in Suzhou 2008, but in 2007, it was resulted in one of the BEST8 teams.
In RoboCupJapanOpen2009 held in 3rd-5th May 2009 Osaka, we had a first winner
in SSL-Humanoid League, and got second place in SSL.
We have educated the creative minds of students using the robot contest held in ourdepartment of electrical and electronic engineering. The creative minds have been
evaluated quantitatively using the examination of the creativity or the personality testcontinuously.
The main topics of our developed system in 2009 are following term,･System construction for the participation to the SSL-Humanoid･Improvement of the image and AI processing system in SSL and SSL-Humanoid･Enhancement of the performance of dribbling and kicking devices of the robot inSSL.

2System construction for SSL-Humanoid

A part of the member of Japanese committee of SSL proposed the new SSL, that is,SSL-Humanoid based on the global vision system which is demonstrated in Suzhou
2008. We have a plan to participate to that competition of RoboCup Japan Open heldin May 2009. Now, we are working on the construction of the system based on theconventional SSL.

2.1

The robot of SSL-Humanoid

In the game of SSL-Humanoid, it is played using humanoid robots. We use thethree robots named MANOI AT01 (KYOSHO Co. Ltd, Japan) shown in Fig. 1. The
robot has the specification of height of 340mm, weight of 1.5Kg and joint of 17-axis.
This robot is excellent for the cost performance. The synthetic resin blanket and metalgear are gave rise to the quick response and durability. The main control board is theRCB-3 provided by KONDO Co. Ltd, Japan. Similarly, KRT-1 (KONDO Co. Ltd.) is
used as the communication device. The frequency is able to use as 25MHz of ADband (20band), but its transmission speed (baud rate) is 2400. Since it has little low
speed, we may change the device.

Fig. 1. The robots for the SSL-Humanoid and SSL

It is very easy to make the motion by using attached software as shown in Fig. 2.
After the setting of servo-motor is made for each joint, it is registered as a series ofmotion. We made improvements mainly foots of MANOI AT01 for stable two leg’swalking. The bottoms of robot's feet are changed widely to limit size (max. 130mm)
as shown in Fig. 3. This improvement is very effective for reducing the rate of falling.
Moreover, we moved backward the roll axis of the ankle and lowered a position of thepitch (pace) axis as shown in Fig. 4. As the results, a center of gravity of robot could
be lowered, and stable walk was achieved. Additionally, the battery is in the center ofthe head part, because its position has little influence even if weight of the batterychanges in near future.

Fig. 2. The image of motion control program

Fig. 3. The bottoms of robot's feet

Front viewFig. 4. The change of the position of the roll axis and pitch axis

2.2

AI processing system for SSL-Humanoid

We, KIKS performed the reconstruction of AI server entirely. First, the operabilityof GUI was improved. In our previous version, it could not set the parameter which isneed the change of the strategy, in play of the game. So, we have to take a long timeout period in that case. Moreover, in SSL-Humanoid, because of the most ofinformation is only position of each robot, it is difficult to know the game situation.
That is, it may be caused the difference of the action between the actual motion of therobot and the motion command called when the event happened. To solve above
problem, we reconstructed the new GUI shown in Fig. 5. As the results, it was able todisplay the detail information of each robot such as the direction, the position and theaction etc., and change the strategy quickly.
Second, the strategy corresponding to the Humanoid robot was designed. In theSSL, it needs the information of the position and velocity of the robot and ball etc. In
addition, in the case of SSL-Humanoid, it will be use the motion command such as
forward, backward, kick and throw-in etc. Thus, we improved the AI server system
for the Humanoid robot. In strategy part, we divided into the small unit. As the results,
we will be able to take the various strategies by combination of the small unit, and thedevelopment of the strategy will be easier compared with previous system. From now,
we will aim to do automatic change of the strategy by robot itself.

Fig. 5. New GUI image of AI processing system

3

Image processing system for SSL and SSL-Humanoid

Now, we use the two cameras as the global vision system, but their cameras do notsynchronize. The image from each camera is displayed independently. Thus, in thecase of finding the ball at two images by somewhat error, the image server send theboth position of the balls to AI server without checking of the validity of the balls. So,
we improved the image processing program to solve the problem mentioned above.
That is, we unified the information which through the recognition process for each
image of the field from two cameras. It can hold the previous information of therobots and the ball, and evaluate the motion of the robots. The flow is shown in Fig. 6.
As the results, incorrect recognition was reduced. But, the performance of thefeedback process is not enough at this time. In the days ahead, the recognition rate
will be improved by linear prediction model, and be achieved the high-speed
processing by partial match search on the field image.

CC
IEEE1394CAMERA

Recognition processing

Recognition processing

Position data

Coordinates integration Artificial intelligence
Transmission of the position data to AI

Image-Processing System
UDP(Position data)

Artificial intelligenceFig. 6. Image processing system

AUTO

Fig. 7. GUI image of automatic illumination control programIn our previous system, when the surrounding illumination on the field waschanged, it could not keep the same condition on our image server system. That is,there was in the situation that it could not be found the ball and/or the robot on theimage by ambient light. So, we have made the program to automatically control theillumination on the image server shown in Fig. 7. It can recognize the ball and therobots even if the intensity of the ceiling light will be changed with normal various
ranges.

4Enhanced mechanism of dribbling and kicking devices ofomnidirectional mobile robot
In recent game, it is very important to do the high-precision pass-play among therobots. That is to say, the shock absorption material and/or mechanism of the dribble
device and quick turn motion are required when the ball get . Then, we changed into
the high power motor for dribble device and redesigned the variable-speed
mechanism. Moreover, chip kick device was also redesigned.
Our robot for SSL is displayed in Fig. 8. The size of robot has a diameter of
172mm and a height of 140mm. The dribble device covers to 20% of the ball. Fourrobots consist of four omnidirectional wheels by using motor of Maxon RE-MAX24,
and it can move at speed of 2.5m/s. The straight kick device has ability to kick theball at speed up to 12m/s, its energy are applied from 4mF capacitor charged to 200V
within 2sec. On the other hand, a keeper robot has mechanum wheel shown in Fig. 9,
for four each motor. The mechanum wheel can move for all direction theoretically,
but our robot is specialized to the motion of the right and left direction against goal.
Therefore, the keeper robot is possible to move faster than other robots on that
direction, and also implemented the powerful chip kick device. Redesigned chip kickdevice is shown in Fig. 10. It can give the power to a ball efficiently by making thelong radius gyration of the device.

Fig. 8. Robot for SSL

Fig. 9. Mechanum wheel
The robot receives the control commands from the AI server using the noninterference device of FRH-SD07T (2.492GHz) of Futaba. Our robot did not sendback the status command.

Chip kick device

Previous design

New design

It can apply the power to a ball efficiently
by long radius gyration of the device.
Fig. 10. Redesigned chip kick device

We evaluated the performance of both solenoid and chip kick device, quantitatively.
The results under the same condition are shown in Fig. 11. It shows that themechanical performance of the robot is improved sufficiently.

Before•distance•ball height

96cm
22cm

After1(Only Solenoid changed)•distance
140cm•ball height
32cm

BeforeAfter2(Both Solenoid and Chip changed)•distance
250cm•ball height
48cm

After1After2

Fig. 11. Performance of chip kick under the same condition

5Conclusions

We have constructed the system for the SSL-Humanoid and improved the robots
and the control program for conventional SSL in this year. The performance of ourrobot is getting high over the year. Most of devices are hand made by students. Thus,
the cost performance is very high in fact. According to our experience, theparticipation to the Robot competition is very effective method to nurture thecreativity for student of less than 20 years old.
We hope that our robots will perform better in this coming competition than that oflast year. We will have a plan to join such competitions continuously in the future.

References
1. Touko SUGIURA, Masato WATANABE and Kazuaki ITO: Practice of Creative Education
Taken into Account the Continuous Participation to the RoboCup Small Size League andWorld Competition, Journal of Education in the Colleges of Technology, 32 (2009) pp.345350. [in Japanese]