Team Description Paper: IRIS Team 2024

Rudy Dikairono, Syahrul Wahyudi, Danendra Clevero Ananda, Hafiz Zain Fahrizal, Khoirul Anam, Farsya Ra'isah., Affan Khalif.

Workshop Laboratory, ITS Robotics Centre, Institut Teknologi Sepuluh Nopember, Surabaya 60111, Indonesia

iris.its.ac.id

Abstract IRIS is a team of robots competing in the soccer robot league. The Team has founded in mid-2016 with the ambitious goal of competing in international robotics competitions with continuous technological developments. This paper presents the middle league information of the IRIS team including team information, hardware information, and software information for RoboCup 2021. In this paper, we will introduce the mechanical system, electrical system, and software of our robot.

1 Introduction

IRIS (acronym for ITS Robots with Intelligence System) is a robotic team that competes in the soccer robotic competition, focusing on the Middle-Size League. IRIS team represents Institut Teknologi Sepuluh Nopember Surabaya (ITS), whichconsists of 37 undergraduate students and two magister students. The team was formed inmid-2016 with the ambitious goal of competing in the international robotics competition. IRIS competes in the middle-size soccer robot competition which is held annually by the Ministry of Research Technology and Higher Education of the Republic of Indonesia called KRSBI-B. This first competition was held in 2017 and our team wonvarious awards, then continued the following year until the last year, we got 1st place in KRSBI-B Regional II, 1st place in KRSBI-B National competition, and best strategy in KRSBI-B National competition. We have also participated in RoboCup Asia-Pacific 2022 and got 1st place in Open Challenge and Cooperation Challenge. Especially, during RoboCup 2022 in Thailand, we won 3rd place in Middle Size Robocup League. The paper describes IRIS research improvements over the last year. First, in section 2, we added our developed localization using omni-vision. Then, in section 3, implemented new mechanism for holding the ball naturally was added. Next, in section 4, describes the application of gazebo simulation in developing IRIS program remotely. Finally, Section 5 provides a conclusion.

2 Vision Locallization

After looking at our robot's performance in Robocub 2022, IRIS localization was lacking in terms of error minimization. Being able to locate a precise location in the field and synchronize it on real time with a backstation could give us opportunities in making fast and accurate future decisions about robot movement. Hence, we need to overcome it with our omni vision. Before initiating this idea, we had been using several rotary encoder and ultrasonic sensors.

Omni vision localization works by scanning lines in the field and comparing this data with a static map which has been created before. After receiving vision data, our robot will fusion this data with encoder and ultrasonic data. Thus, the robot would know its current position and estimated position.

Fig. 1: first prototype of our visual localization

Fig. 2: method to calibrate the camera visual localization

3 Ball Handling

Natural Ball Handling is a main rule of Robocup. In 2023 IRIS Finally managed to complete this task. In order to complete this task, there are a lot of things that should've done. We should change all of the current ball handling system. From the mechanical, electrical, and also the program. Natural ball handling system was used in KRI 2023 in Indonesia and IRIS is the only team in Indonesia that has implemented this system in the real competition.

Fig. 4: Motor of active wheel with gearbox

3.1 Mechanical

The main problem of our ball handling is the mechanical design that doesn't support the robot to have such abilities to control the ball. Our old robot has this kind of design

Fig. 5: New Upper Body Design IRIS Team Robot

3.2 Electrical

For the electrical part, we add one more sensor that can be used to determine the arm lever's position, this way the dribbler could have control on our ball position, etc. The sensor that we're using is angle position sensor. To withstand any mechanical impacts and environmental influences, the actuating mechanism needs to be reliable and easy to operate. Through the arm lever shaft and a metal or plastic connecting part, the actual movement is changed into a rotary movement. Using the induction approach, the sensor determines the precise angular location.

3.3 Programs

This is our flowchart of our new ball handling mechanism.

Fig. 6: Flowchart Ball Handling Mechanism

4 Gazebo

Gazebo, open-source 3D robotics simulator, is a powerful robot simulation environment managed by Open Robotics which is also part of a group looking after ROS. This robot simulator is widely used by industry and academia to advance progress of robot development with powerful tools that could be able to calculate physics, generate sensor data, and support OpenGL rendering.

Many tools which can be configured easily emulating real world environment matching with IRIS robot conditions are advantageous especially in robot research. Every data such as friction, force, momentum are important things that differ between real world and simulation.

In 2019 gazebo had not been fully used by our team, then in 2020, when COVID started, the IRIS team was faced with a problem. The problem is, we have difficulty in developing and exploring new programs that will be applied for the robot due to the pandemic protocols and semester breaks. At this point we realize how Gazebo is important and seriously needed.

In Gazebo's simulation program, we are able to create three dimentional simulations. Laws of physics are also being applied here. Below is an illustration of Gazebo's simulation program where we can do a few matches. The illustration below, is an example of a three on three match.

5 Conclusion

Based on the achievements of our team in National Leagues and the experience in participating in RoboCup 2022 in Thailand, IRIS will have a strong commitment to participate in RoboCup 2023 proven by the development of the robot in the software platform and mechatronic system.

The major improvements that were made for this past year are mostly about softwareplatform. First we got our first locallization system, this system helped us a lot, where it brought us to become a first winner in robocup asia pacific 2022. Last but not least we got our first and most robust ball handling system, actually, our team has a natural ball handling system before, but it was not a perfect system and was hard coded. But in the beginning of 2023 IRIS's managed to develop a whole new ball handling system which was not being hard coded, and this brought us to fulfil robocup's prerequirement that the robot should be able to do natural ball handling in order to be able to participate in the game.

References

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