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Hierarchical Reactive Control For Humanoid Soccer Robots

机译：类人足球机器人的分层反应控制

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摘要

Humanoid soccer serves as a benchmark problem for artificial intelligence research and robotics. Every year, more teams are competing, for example, in the RoboCup Humanoid League. As the robots improve in the basic skills of walking, kicking, and getting up, teams can focus on soccer skills and team coordination. The complexity of soccer behaviors and team play calls for structured behavior engineering. In this paper, we describe the design of the behavior control software for the Humanoid League team NimbRo. The software is based on a framework that supports a hierarchy of reactive behaviors. It is structured both as an agent hierarchy (joint-body part-player-team) and as a time hierarchy. The speed of sensors, behaviors, and actuators decreases when moving up in the hierarchy. The lowest levels of this framework contain position control of individual joints and kinematic interfaces for body parts. At the next level, basic skills are implemented. Soccer behaviors like searching for the ball, approaching the ball, avoiding obstacles, and defending the goal reside on the player level. Finally, on the tactical level, the robots communicate via a wireless network to negotiate roles and use allocentric information to configure the soccer behaviors. Our robots performed very well at RoboCup 2007, which took place in Atlanta, Georgia, USA. They won both the KidSize and the TeenSize humanoid soccer competitions.
机译：人形足球是人工智能研究和机器人技术的基准问题。每年，都有更多的团队参加RoboCup人形联赛。随着机器人提高步行，踢脚和起床的基本技能，团队可以专注于足球技能和团队协作。足球行为和团队比赛的复杂性要求结构化行为工程。在本文中，我们描述了仿人联盟NimbRo行为控制软件的设计。该软件基于支持反应性行为层次结构的框架。它既按业务代表层次结构（联合体部分球员团队）又按时间层次结构进行组织。在层次结构中上移时，传感器，行为和执行器的速度会降低。该框架的最低级别包含各个关节的位置控制和身体部位的运动学接口。在下一级别，将实施基本技能。诸如寻找球，接近球，避开障碍物和捍卫球门等足球行为取决于球员水平。最后，在战术层面上，机器人通过无线网络进行通信以协商角色并使用同心圆信息来配置足球行为。在美国乔治亚州亚特兰大举行的RoboCup 2007上，我们的机器人表现非常出色。他们赢得了KidSize和TeenSize人形足球比赛。

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