TY  - CHAP
U1  - Konferenzveröffentlichung
A1  - Schnekenburger, Fabian
A1  - Scharffenberg, Manuel
A1  - Wülker, Michael
A1  - Hochberg, Ulrich
A1  - Dorer, Klaus
T1  - Detection and Localization of Features on a Soccer Field with Feedforward Fully Convolutional Neural Networks (FCNN) for the Adult-Size Humanoid Robot Sweaty
T2  - Proceedings of the 12th Workshop on Humanoid Soccer Robots, 17th IEEE-RAS International Conference on Humanoid Robots
N2  - For the RoboCup Soccer AdultSize League the
humanoid robot Sweaty uses a single fully convolutional neural
network to detect and localize the ball, opponents and other
features on the field of play. This neural network can be trained
from scratch in a few hours and is able to perform in real-time
within the constraints of computational resources available on the
robot. The time it takes to precess an image is approximately
11 ms. Balls and goal posts are recalled in 99 % of all cases
(94.5 % for all objects) accompanied by a false detection rate
of 1.2 % (5.2 % for all). The object detection and localization
helped Sweaty to become finalist for the RoboCup 2017 in
Nagoya.
Y1  - 2017
U6  - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bsz:ofb1-opus4-26557
UN  - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bsz:ofb1-opus4-26557
UR  - http://lofarolabs.com/events/robocup/ws17/papers/Humanoids_RoboCup_Workshop_2017_pape_4.pdf
SP  - 1
EP  - 6
S1  - 6
PB  - IEEE
CY  - Birmingham
ER  - 
TY  - CHAP
U1  - Konferenzveröffentlichung
A1  - Scharffenberg, Manuel
A1  - Schnekenburger, Fabian
A1  - Wülker, Michael
A1  - Hochberg, Ulrich
A1  - Jahn, Nils-Malte
A1  - Dorer, Klaus
T1  - A New Motor Controller for Overloading BLDC-Motors of Low Inductivity, Lightweight and Ready for Admittance and Impedance Model Predictive Control
T2  - Proceedings of the 12th Workshop on Humanoid Soccer Robots, 17th IEEE-RAS International Conference on Humanoid Robots
N2  - One of the challenges in humanoid robotics is
motion control. Interacting with humans requires impedance
control algorithms, as well as tackling the problem of the closed
kinematic chains which occur when both feet touch the ground.
However, pure impedance control for totally autonomous robots
is difficult to realize, as this algorithm needs very precise sensors
for force and speed of the actuated parts, as well as very high
sampling rates for the controller input signals. Both requirements
lead to a complex and heavy weight design, which makes up for
heavy machines unusable in RoboCup Soccer competitions.
A lightweight motor controller was developed that can be
used for admittance and impedance control as well as for model
predictive control algorithms to further improve the gait of the
robot.
Y1  - 2017
U6  - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bsz:ofb1-opus4-26563
UN  - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bsz:ofb1-opus4-26563
UR  - http://lofarolabs.com/events/robocup/ws17/papers/Humanoids_RoboCup_Workshop_2017_pape_3.pdf
SP  - 1
EP  - 6
S1  - 6
PB  - IEEE
CY  - Birmingham
ER  -