household service competition

1.Scope of participation

Participating group: The participants are graduate students and undergraduates, regardless of grade or major. Each team must include undergraduate students.

B. Number of participants: 2 to 4 person/team (up to 3 people)

C. Instructor: 1 person (available).

2. the theme of the competition The Home Service Challenge is a competition that uses the mobile platform (TB3) and ROS to develop autonomous driving and manipulation codes to solve home service tasks.

3. Competition process

A. Registration: Contestants shall register according to the method and time specified by the organizer of the competition. Teams that have successfully registered are eligible to participate in the online competition.

B. Video selection: Each participating team will make a complete video of the project completed by itself from beginning to end, and send the video to the organizer of the competition in a prescribed way at the prescribed time.

C. Online defense: After the video is uploaded successfully, according to the scheduled schedule, the contestants need to explain and explain their projects and answer the teacher's questions.

D. Online operation of the robot: In order to show that the video that the player has uploaded to the official is the original video, there is no need to optimize the video editing, and it is necessary to shoot in a one-shot way. Participants need to demonstrate the robot equipment during live defense to ensure the authenticity of their robots.

4. Competition description

A. Participating robot

1) This competition refers to TURTLEBOT3 waffle Pi and OpenMANIPULATOR-X. The participating robots should be assembled into mobile robots before the competition.

2) It is forbidden to use the remote control, all tasks must be completed independently.

3) The steering gear of the robot is limited to the DYNAMIXEL-X series, but the size and sensor of the robot can be modified and added freely, as long as it does not affect the competition.

B.Competition rules

1) Place the robot at the starting position in the middle of the arena and start to perform tasks after the start signal.

2) Use the manipulator to move 4 different objects to each corresponding destination.

-Refer to the task score of each destination

3) When the participating robot transports the last object to the final position, the robot must return to the starting position to complete the game.

C.Scoring criteria

1) Calculate scores based on task completion and time

2) If a player touches a robot or computer during the game, 5 points will be deducted for each touch.

3) If the contestant hits a robot or a computer, please place the robot in the starting position and start again.

4) The mission time is 15 minutes. If the robot stops for more than 30 seconds, the game will end automatically.

5) The score will be ranked according to the following instructions:

a. The number of successful tasks b. Penalties c. Time record

D.Task score

1）

2) Video score reference: the completeness of the action, the speed of completing the project, and the stability of the robot.

*Compare the speed of the robot with the speed in the video to verify the authenticity of the video.

E.Other

Matters not covered in this rule are decided by the referee team and the organizing committee.

5. Competition venue

a. Size: 3m*3m*0.2m

(Simulation example)

b. AR mark

1) AR mark size: 9cm×9cm (the height between the center of the AR mark and the ground: 10cm)

2) AR mark on the object: #00 ~#03

Destination AR mark: #04～#07

c. Task table size (length x width x height): 100cm x 20cm x 20cm

*The design, width and position of the task table can be changed.

d. Distance between objects: 2.1cm~7.6cm

*The design, width and position of the task table can be changed.

*The object is placed on the table 5 cm from the edge of the table.

e. Obstacles can be set in the arena

6. Competition requirements

1) The robot starts timing from the starting point, and the whole process of passing the end point and completing the parking requires a meter to calculate the time.

2) The video file of the game must be complete and original, and no editing is allowed in the middle of the video.

3) In the video, the contestants, robots, stopwatch, and computer must always be in the video lens to ensure that the

participating robots complete the game autonomously.