Difference between revisions of "ROBOWII"

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== RoboWii ==
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<!--{{Project
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|title=ROBOWII
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|image=SkypeWII1Small.JPG
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|short_descr=Meta-Project on the implementation of robotic games using the WIIMote interface
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|coordinator=AndreaBonarini
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|resarea=Robotics
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|restopic=Robogames
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|start=2008/10/01
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|end=2011/12/31
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|status=Closed
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}}-->
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=== General description ===
  
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[[Image:Wiimote.jpg|left]]
 
  
 
<br>
 
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Lo scopo del nostro lavoro è quello di studiare l'utilizzo del Wii Remote, il controller principale della console Nintendo Wii, in ambito robotico, mediante la creazione di un gioco basato sull'interazione fra il Wii Remote e un robot.
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Aim of projects in this area is to develop games where people interact with autonomous robots by using the WII Remote, the main controller of the Nintendo WII console. The area is coordinated by [[User:AndreaBonarini|Andrea Bonarini]], and belongs to the [[Robogames]] activities.
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Since WII Remote (shortly: [[WIIMote]]) has onboard a 3-axis accelerometer, and infrared camera, a speaker, 4 leds, a vibration system and many buttons, it could be used as a human-computer interface in many robotic applications. [http://www.ted.com/talks/view/id/245 This link] is about some of the things that can be done with a WIIMote. Check Johnny Lee on Youtube for more...
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In parallel, some projects are facing problems of designing [[RobogameDesign|interactive games involving autonomous robots]] and [[Highly Interactive Robogames]].
 
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-----
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=== Active Projects===
  
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-----
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=== Finished Projects ===
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==== RoboWII 1.0 ====
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[[Image:Robowii_robot.jpg|thumb|right|300px|The first robot]]
 
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Essendo il Wii Remote (di seguito abbreviato in Wiimote) dotato di un accelerometro, di una telecamera sensibile all'infrarosso, di uno speaker, di 4 led e della possibilità di vibrare, può essere utilizzato come interfaccia uomo-computer in svariate applicazioni della robotica.
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Antonio Bianchi and Ben Chen developed a game system ([[RoboWII1.0|RoboWII1.0]]) where the human player has to try to point a led target on the robot with the infrared camera of the WIIMote, while the robot tries to get a target position and at the same time to avoid to be caught.  
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In particolare, abbiamo sviluppato un sistema di gioco (Robowii) che consiste nel cercare di colpire un bersaglio, montato su di un robot, mentre il robot stesso cerca di raggiungere una determinata posizione.  
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[[Image:Robowii_robot.jpg|right]]
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[[Image:Wiimote.jpg|thumb|left|Wii Remote controller]]
  
 
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Abbiamo utilizzato un robot a 2 ruote fisse parallele, controllabili separatamente.
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They have used a robot originally used in Robocup, with a two-wheels differential kinematics.
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Robowii è stato sviluppato in Linux, utilizzando il linguaggio C++. La comunicazione con il Wiimote è stata ottenuta tramite la libreria Wiiuse.
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RoboWII has been developed in Linux, using C++. The communication between computer and WIIMote is done using the library Wiiuse. Moreover, some packages developed at Politecnico di Milano within the MRT project (Modular Robotic Toolkit) have been used:
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Sono stati, inoltre, utilizzati i seguenti software, precedentemente sviluppati dal Politecnico di Milano all'interno del progetto MRT (da interpretare sia come Milan Robocup Team, sia come Modular Robotic Toolkit):
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*DCDT, for message exchange among the components of RoboWII
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*DCDT, per lo scambio di messaggi all'interno dei vari componenti di Robowii
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*Mr. Brian, to program fuzzy logic behaviors
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*Mr. Brian, per la programmazione dei comportamenti del robot tramite logica fuzzy
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*Inoltre abbiamo utilizzato il software di localizzazione, precedentemente sviluppato per il progetto Lurch, per permettere al robot di localizzare la sua posizione all'interno del campo di gioco, utilizzando una telecamera ed appositi marker. Questo software si basa sulle librerie ArtToolkitPlus.
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<br>The localization software was originally developed within the [[LURCH_-_The_autonomous_wheelchair|LURCH project]], and is able to localize the robot w.r.t. a set of printed markers placed on the ceiling over the playground. This software uses the ArtToolkitPlus libraries.
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<br/>
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==== WhereWiiAre ====
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[[User:MatteoBotta|Matteo Botta]] and [[User:AlbertoBottinelli|Alberto Bottinelli]] developed for their bachelor thesis a marker-based self-localization system using the WIIMote: [[WhereWIIAre|WhereWIIAre]]
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==== RoboWII 2.0 ====
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[[User:AntonioMicali|Antonio Micali]] has developed a second, improved version of the ROBOWII game ([[RoboWII2.0|RoboWII2.0]]) on the robot [[Spykee]]
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[[Image:SkypeWII1Small.JPG |thumb|right|300px|Spykee, one of the current RoboWII bases]]
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==== RoboWII 2.0.L ====
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[[User:GabrielePallotta|Gabriele Pallotta]] and [[User:LuigiParpinel|Luigi Parpinel]] Have developed a new [[Lego Mindstorms NXT]]-based robot and a new game for it: [[RoboWII2.0.L|RoboWII2.0.L]].
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==== RoboWII 2.0.1 ====
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[[User:AndreaPontecorvo|Andrea Pontecorvo]] has developed a new ROBOWII game ([[RoboWII2.0.1|RoboWII2.0.1]]) on the robot [[Spykee]]
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==== Hide and Seek 2 ====
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[[User:DavideGadioli|Davide Gadioli]] has developed a kind of [[Hide_and_Seek_2|Hide and Seek]] Robogame with the former help of [[User:MattiaBerlusconi|Mattia Berlusconi]].
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==== RoboWII 2.1 ====
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[[User:AlessandroMarin|Alessandro Marin]] and [[User:DiegoMereghetti|Diego Mereghetti]] have developed RoboWII 2.1 a new version of a game system for Human-Computer Interaction Laboratory: [[RoboWII2.1|RoboWII 2.1]], further developed by [[User:DeborahZamponi|Deborah Zamponi]] and[[User:CristianMandelli| Cristian Mandelli]]. This project is part of the ROBOWII effort, in turn on the [[Robogames]] research line.
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==== RunBot ====
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[[User:AnilKoyuncu|Anil Koyuncu]] has developed a new robot for more active playing: [[RunBot: a Robogame Robot |RunBot]]
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-----
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=== Robowii Video ===
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{{#ev:youtube|NWPOIApoUvc}}
  
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*[http://www.youtube.com/watch?v=NWPOIApoUvc External link]
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RoboWII2.0. First test of the game at Open Day on April 4th, 2009 with an expert user.
  
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{{#ev:youtube|4brVUut4PeE}}
  
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*[http://www.youtube.com/watch?v=4brVUut4PeE External link]
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RoboWII2.0. First test of the game at Open Day on April 4th, 2009 with a novice user. Some improvements are needed to reduce fear and increase understandability of the game. Comments coming from video analysis on the discussion page.
  
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Partecipanti a questo progetto: [[User:AntonioBianchi|Antonio Bianchi]], [[User:BenChen|Ben Chen]]
 
  
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Advisor: [[User:AndreaBonarini|Andrea Bonarini]]
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{{#ev:youtube|P7bFBA0thao}}
  
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*[http://www.youtube.com/watch?v=P7bFBA0thao External link]
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RoboWII 2.0. The robot and the new led interface to improve the playability of the game.
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The green led indicates when the robot is pointed by the WIIMote. The red leds indicate the time of charge, when they are all lit it's possible to hit the robot.
  
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{{#ev:youtube|1cjWLKWOUkw}}
  
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*[http://www.youtube.com/watch?v=1cjWLKWOUkw External link]
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[[Robo-Hide-and-Hunt]] a robogame designed in the [[RobogameDesign|Robogame design effort]]
  
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{{#ev:youtube|TG96ubwVJd8}}
  
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*[http://www.youtube.com/watch?v=TG96ubwVJd8 External link]
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[[RoboWII2.0.1]]
  
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== Indice ==
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{{#ev:youtube|pCFMwl73MCE}}
  
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#SOFTWARE E TECNOLOGIE UTILIZZATE
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*[http://www.youtube.com/watch?v=pCFMwl73MCE External link]
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##Nintendo Wii Remote
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[[RoboWII2.1]]
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##*Bluetooth
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##*Accelerometro
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##*Sensore ad infrarossi
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##Librerie
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##*Librerie principali
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##*Wiiuse: caratteristiche principali
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##*Wiiuse: utilizzo
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##Altri utilizzi del Wiimote
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##*Wiimote head tracking desktop VR display
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##*Low-cost multi-point interactive whiteboards using Wiimote
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##*Wiinstruments
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##Logica fuzzy e Mr. Brian
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##*Fuzzyficazione
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##*Definizione dei predicati
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##*Scelta dei comportamenti da attivare (CANDO)
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##*Valutazione delle regole
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##*Fusione dei risultati
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##*Defuzzyficazione
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##*Mr. Brian
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##DCDT (Device Communication Development Toolkit)
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##*Inizializzazione del Dispatcher e creazione degli agenti
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##*La classe StringModuleMember
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##Localizzazione
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##*ArToolKit ed ArToolKitPlus
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##*Calcolo della matrice di roto-traslazione
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##*Calibrazione dei marker
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##Robot utilizzato
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#ROBOWII
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-----
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##Struttura di gioco
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##*Descrizione
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##*Pseudocodice
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##*Altre caratteristiche
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##Moduli software sviluppati/modificati
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##*WiimExpert
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##*BrianExpert
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##*MotorExpert
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##*PositionDummyExpert
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##*VisionExpert
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##*PositionExpert
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##*LogExpert
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##Configurazione dei comportamenti
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##*Dati in ingresso
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##*Comportamenti
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#Risultati
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===Work done===
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##AlignToGoal e GotoGoal
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##StayInArea
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##EscapeIR
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*Project start: March 2008
 +
*First prototype delivered (Bachelor thesis Bianchi&Chen - September 2008)
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*New robot arrival ([http://www.spykeeworld.com/ Spyke]) (Antonio Micali - November 2008)
 +
*New interface to control the new robot from a remote PC (Antonio Micali - December 2008)
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*Sonar belt on Skype e first game on it (Antonio Micali - December 2008)
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*Conceptual design of a hiding game (Andrea Pontecorvo - April 2009)
 +
*Conceptual design of the Jedi Training game (Adrien Servier, Andrea Nicotra - April 2009)
 +
*Installation of sonar belt on Skype (Antonio Micali - March 2009)
 +
*Developed a new leds interface to improve the playability of the game (Antonio Micali - April 2009)
 +
*Extension of the existing game considering the sonar belt (Antonio Micali - April 2009)
 +
*Test if the first Spyke game (Antonio Micali - April 2009)
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*Tuning of the first Spyke game (Antonio Micali - May 2009)
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*Design and implement a new RoboWII Game obased on fixed robot (Adrien Servier, Andrea Nicotra - 2009)
 +
*Design and implementation of a new game with game design methodology (Andrea Pontecorvo - 2009)
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*Design Lego robot and implementation (Gabriele Pallotta, Luigi Parpinel - 2009)
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*Design a new robot (Anil Koyuncu) - July 2010
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* Robo-Hide-and-Seek finished - July 2010
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*Robowii2.1 finished - September 2010
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* Runbot finished - April 2011
  
  
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-----
  
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[http://www.ma5.it/luigi/polimi/mrt.tar.gz | Guide to MRT software]
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=== Laboratory work and risk analysis ===
  
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--[[User:BenChen|Ben Chen]] 12:20, 9 April 2008 (CEST)
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Laboratory work for this project is mainly performed at AIRLab/Lambrate. It includes some mechanical work and electrical and electronic activity. Potentially risky activities are the following:
 +
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
 +
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
 +
* Transportation of heavy loads (e.g. robots).  Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
 +
* Robot testing.  Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

Latest revision as of 17:43, 21 March 2012

General description


Aim of projects in this area is to develop games where people interact with autonomous robots by using the WII Remote, the main controller of the Nintendo WII console. The area is coordinated by Andrea Bonarini, and belongs to the Robogames activities.

Since WII Remote (shortly: WIIMote) has onboard a 3-axis accelerometer, and infrared camera, a speaker, 4 leds, a vibration system and many buttons, it could be used as a human-computer interface in many robotic applications. This link is about some of the things that can be done with a WIIMote. Check Johnny Lee on Youtube for more...

In parallel, some projects are facing problems of designing interactive games involving autonomous robots and Highly Interactive Robogames.

Active Projects

Finished Projects

RoboWII 1.0

The first robot


Antonio Bianchi and Ben Chen developed a game system (RoboWII1.0) where the human player has to try to point a led target on the robot with the infrared camera of the WIIMote, while the robot tries to get a target position and at the same time to avoid to be caught.

Wii Remote controller


They have used a robot originally used in Robocup, with a two-wheels differential kinematics. RoboWII has been developed in Linux, using C++. The communication between computer and WIIMote is done using the library Wiiuse. Moreover, some packages developed at Politecnico di Milano within the MRT project (Modular Robotic Toolkit) have been used:

  • DCDT, for message exchange among the components of RoboWII
  • Mr. Brian, to program fuzzy logic behaviors



The localization software was originally developed within the LURCH project, and is able to localize the robot w.r.t. a set of printed markers placed on the ceiling over the playground. This software uses the ArtToolkitPlus libraries.

WhereWiiAre

Matteo Botta and Alberto Bottinelli developed for their bachelor thesis a marker-based self-localization system using the WIIMote: WhereWIIAre

RoboWII 2.0

Antonio Micali has developed a second, improved version of the ROBOWII game (RoboWII2.0) on the robot Spykee

Spykee, one of the current RoboWII bases

RoboWII 2.0.L

Gabriele Pallotta and Luigi Parpinel Have developed a new Lego Mindstorms NXT-based robot and a new game for it: RoboWII2.0.L.

RoboWII 2.0.1

Andrea Pontecorvo has developed a new ROBOWII game (RoboWII2.0.1) on the robot Spykee

Hide and Seek 2

Davide Gadioli has developed a kind of Hide and Seek Robogame with the former help of Mattia Berlusconi.

RoboWII 2.1

Alessandro Marin and Diego Mereghetti have developed RoboWII 2.1 a new version of a game system for Human-Computer Interaction Laboratory: RoboWII 2.1, further developed by Deborah Zamponi and Cristian Mandelli. This project is part of the ROBOWII effort, in turn on the Robogames research line.

RunBot

Anil Koyuncu has developed a new robot for more active playing: RunBot

Robowii Video

RoboWII2.0. First test of the game at Open Day on April 4th, 2009 with an expert user.

RoboWII2.0. First test of the game at Open Day on April 4th, 2009 with a novice user. Some improvements are needed to reduce fear and increase understandability of the game. Comments coming from video analysis on the discussion page.


RoboWII 2.0. The robot and the new led interface to improve the playability of the game. The green led indicates when the robot is pointed by the WIIMote. The red leds indicate the time of charge, when they are all lit it's possible to hit the robot.

Robo-Hide-and-Hunt a robogame designed in the Robogame design effort

RoboWII2.0.1

RoboWII2.1

Work done

  • Project start: March 2008
  • First prototype delivered (Bachelor thesis Bianchi&Chen - September 2008)
  • New robot arrival (Spyke) (Antonio Micali - November 2008)
  • New interface to control the new robot from a remote PC (Antonio Micali - December 2008)
  • Sonar belt on Skype e first game on it (Antonio Micali - December 2008)
  • Conceptual design of a hiding game (Andrea Pontecorvo - April 2009)
  • Conceptual design of the Jedi Training game (Adrien Servier, Andrea Nicotra - April 2009)
  • Installation of sonar belt on Skype (Antonio Micali - March 2009)
  • Developed a new leds interface to improve the playability of the game (Antonio Micali - April 2009)
  • Extension of the existing game considering the sonar belt (Antonio Micali - April 2009)
  • Test if the first Spyke game (Antonio Micali - April 2009)
  • Tuning of the first Spyke game (Antonio Micali - May 2009)
  • Design and implement a new RoboWII Game obased on fixed robot (Adrien Servier, Andrea Nicotra - 2009)
  • Design and implementation of a new game with game design methodology (Andrea Pontecorvo - 2009)
  • Design Lego robot and implementation (Gabriele Pallotta, Luigi Parpinel - 2009)
  • Design a new robot (Anil Koyuncu) - July 2010
  • Robo-Hide-and-Seek finished - July 2010
  • Robowii2.1 finished - September 2010
  • Runbot finished - April 2011


Laboratory work and risk analysis

Laboratory work for this project is mainly performed at AIRLab/Lambrate. It includes some mechanical work and electrical and electronic activity. Potentially risky activities are the following:

  • Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
  • Use of soldering iron. Standard safety measures described in Safety norms will be followed.
  • Transportation of heavy loads (e.g. robots). Standard safety measures described in Safety norms will be followed.
  • Robot testing. Standard safety measures described in Safety norms will be followed.
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