All Publications
In the 15th IEEE-RAS International Conference on Humanoid Robotics (Humanoids 2015)
Authors : Kaustubh Nawade, V. Aditya, Apoorv Shrivastava, B.K. Rout
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Abstract — This paper presents a unique real time technique for path generation in dynamic environment using simple geometry, suitable for humanoid robots. We show that the proposed algorithm reduces computation to find the optimal collision free path by utilizing the geometrical shapes of the obstacles to navigate from a known initial point to final point. The trajectory is then translated to known parameters of humanoid gait model thus effectively computing the footsteps for the robot. This algorithm has been simulated, implemented and tested on humanoid robot AcYut, developed at Centre for Robotics and Intelligence Systems, BITS-Pilani.
Authors : Kaustubh Nawade, V. Aditya, Apoorv Shrivastava, B.K. Rout
Link
Abstract — This paper presents a unique real time technique for path generation in dynamic environment using simple geometry, suitable for humanoid robots. We show that the proposed algorithm reduces computation to find the optimal collision free path by utilizing the geometrical shapes of the obstacles to navigate from a known initial point to final point. The trajectory is then translated to known parameters of humanoid gait model thus effectively computing the footsteps for the robot. This algorithm has been simulated, implemented and tested on humanoid robot AcYut, developed at Centre for Robotics and Intelligence Systems, BITS-Pilani.
In the Asia-Pacific Conference on Intelligent Robot Systems (ACIRS 2016)
Authors : Pratyush Kar, Archit Jain, B.K. Rout
Link
Abstract—This paper presents a real-time technique for efficient localization of a humanoid robot in a soccer field using a fish-eye lens. We propose a novel method that uses node merging to provide a robust and an accurate estimate of positions of the intersection points in the field lines. The distances to these points are calculated using Inverse Perspective Mapping and fed to the particle filter for the purpose of localization. The proposed algorithms have been implemented and tested on the humanoid robot platform AcYut, being developed at the Centre for Robotics and Intelligent Systems (CRIS), BITS Pilani.
Authors : Pratyush Kar, Archit Jain, B.K. Rout
Link
Abstract—This paper presents a real-time technique for efficient localization of a humanoid robot in a soccer field using a fish-eye lens. We propose a novel method that uses node merging to provide a robust and an accurate estimate of positions of the intersection points in the field lines. The distances to these points are calculated using Inverse Perspective Mapping and fed to the particle filter for the purpose of localization. The proposed algorithms have been implemented and tested on the humanoid robot platform AcYut, being developed at the Centre for Robotics and Intelligent Systems (CRIS), BITS Pilani.
In the International Conference on Communication and Signal Processing (ICCSP 2013)
Authors : Tushar Agrawal, Deepak Gopinath
Link
Abstract—Localization is an important topic in the field of mobile robotics. It is the process of estimating the position and orientation of a mobile robot. Several probabilistic techniques are available for this purpose, some of which use a compass sensor to directly determine current orientation. This sensor is highly susceptible to magnetic interference. Here, we propose an association based approach which solely relies on camera images to localize in a pre-defined environment. We use the Monte Carlo Localization for position based filtering. Further, we present a relative landmark mapping technique and white points based filtering used to obtain the final pose of the robot after incorporating its orientation. To check the accuracy of the proposed methodology, it was tested on a large number of real-world test cases. The technique resulted in a high success rate and accurately estimated the position and orientation of the mobile robot in the field. It is currently being employed for localizing humanoid robot, AcYut, in humanoid robot soccer games.
Authors : Tushar Agrawal, Deepak Gopinath
Link
Abstract—Localization is an important topic in the field of mobile robotics. It is the process of estimating the position and orientation of a mobile robot. Several probabilistic techniques are available for this purpose, some of which use a compass sensor to directly determine current orientation. This sensor is highly susceptible to magnetic interference. Here, we propose an association based approach which solely relies on camera images to localize in a pre-defined environment. We use the Monte Carlo Localization for position based filtering. Further, we present a relative landmark mapping technique and white points based filtering used to obtain the final pose of the robot after incorporating its orientation. To check the accuracy of the proposed methodology, it was tested on a large number of real-world test cases. The technique resulted in a high success rate and accurately estimated the position and orientation of the mobile robot in the field. It is currently being employed for localizing humanoid robot, AcYut, in humanoid robot soccer games.
An Extended Abstract presented at the IEEE-RAS International Conference on Robotics and Automation (ICRA 2015)
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RoboCup 2015 Team Description Paper
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Abstract: This paper explains the working of our humanoid robots, AcYut, which we intend to use for the RoboCup Humanoid Teen size soccer competition. As per the regulations of the competition, AcYut's structure is designed in accordance with human proportion. It is able to walk utilizing the Linear Inverted Pendulum Model as a default open loop trajectory, and an Inertial Measurement Unit for detecting destabilizations. In order to perceive its enviromnent it is equipped with a fish-eye camera. Image processing and decision making takes place on an Intel i3-4010U processor.
Link
Abstract: This paper explains the working of our humanoid robots, AcYut, which we intend to use for the RoboCup Humanoid Teen size soccer competition. As per the regulations of the competition, AcYut's structure is designed in accordance with human proportion. It is able to walk utilizing the Linear Inverted Pendulum Model as a default open loop trajectory, and an Inertial Measurement Unit for detecting destabilizations. In order to perceive its enviromnent it is equipped with a fish-eye camera. Image processing and decision making takes place on an Intel i3-4010U processor.
RoboCup 2014 Team Description Paper
Link
Abstract: This paper explains the working of our humanoid robots, AcYut, which we intend to use for the RoboCup Humanoid Teen size soccer competition. As per the regulations of the competition, AcYut’s structure is designed in accordance with human proportion. It is able to walk utilizing the Linear Inverted Pendulum Model and an Inertial Measurement Unit. In order to perceive its environment it is equipped with a camera. Image processing and decision making takes place on an Intel Atom processor.
Link
Abstract: This paper explains the working of our humanoid robots, AcYut, which we intend to use for the RoboCup Humanoid Teen size soccer competition. As per the regulations of the competition, AcYut’s structure is designed in accordance with human proportion. It is able to walk utilizing the Linear Inverted Pendulum Model and an Inertial Measurement Unit. In order to perceive its environment it is equipped with a camera. Image processing and decision making takes place on an Intel Atom processor.
RoboCup 2013 Team Description Paper
Link
Abstract : This paper explains the working of our humanoid robots, AcYut, which we intend to use for the RoboCup Humanoid Teen size soccer competition. As per the regulations of the competition, AcYut is designed in accordance with human proportion. It is able to walk utilizing the Linear Inverted Pendulum Model and an Inertial Measurement Unit. In order to perceive its environment it is equipped with a camera. Image processing and decision making takes place on an Intel Atom processor.
Link
Abstract : This paper explains the working of our humanoid robots, AcYut, which we intend to use for the RoboCup Humanoid Teen size soccer competition. As per the regulations of the competition, AcYut is designed in accordance with human proportion. It is able to walk utilizing the Linear Inverted Pendulum Model and an Inertial Measurement Unit. In order to perceive its environment it is equipped with a camera. Image processing and decision making takes place on an Intel Atom processor.
RoboCup 2012 Team Description Paper
Link
Abstract: Team AcYut was founded in 2008 at BITS-Pilani with the aim of innovating and building India’s First Humanoid Robot. It consists of Under-graduate students from all disciplines. The Specifications and the working of the Fifth version of AcYut, AcYut-5, are provided in this paper.
Link
Abstract: Team AcYut was founded in 2008 at BITS-Pilani with the aim of innovating and building India’s First Humanoid Robot. It consists of Under-graduate students from all disciplines. The Specifications and the working of the Fifth version of AcYut, AcYut-5, are provided in this paper.
