RoboCup
Competition Preparation
Persiapan kompetisi RoboCup dan KRI
Competition Preparation
Panduan lengkap untuk mempersiapkan tim BASCORRO menghadapi kompetisi RoboCup dan KRI.
Competition Calendar
2025
| Event | Date | Location | Status |
|---|---|---|---|
| KRI Regional | Feb-Mar | Regional | Qualification |
| KRI Nasional | Apr-May | TBD | National |
| RoboCup 2025 | Jul 15-21 | Salvador, Brazil | International |
Team Description Paper (TDP)
Apa itu TDP?
TDP adalah dokumen teknis yang menjelaskan robot dan pendekatan tim. WAJIB untuk qualification.
TDP Structure
1. Introduction
- Team background
- Previous participations
2. Hardware
- Robot specifications
- Sensors & actuators
- Innovations
3. Software
- Architecture overview
- Vision system
- Locomotion
- Strategy
4. Experimental Results
- Performance metrics
- Testing results
5. Conclusion
- Future plans
ReferencesTDP Tips
Best Practices:
- Focus on innovations, bukan deskripsi umum
- Include quantitative results (accuracy %, speed, etc.)
- Add diagrams dan photos
- Max 8 pages (usually)
- Submit before deadline!
Contoh Topics untuk TDP
| Section | Content Ideas |
|---|---|
| Vision | Ball detection accuracy, FPS, lighting robustness |
| Walking | Speed, stability metrics, power consumption |
| Localization | Accuracy dalam cm, update rate |
| Strategy | Behavior description, coordination method |
Qualification Requirements
RoboCup Humanoid League
- TDP Submission - Before deadline
- Qualification Video - Robot demo
- Registration Fee - Team registration
- Technical Inspection - At competition
Qualification Video Content
Rekam video (3-5 menit) yang menunjukkan:
1. Robot Overview
- Full body shot
- Size measurement
- Emergency stop demo
2. Walking Demo
- Forward walking
- Turning
- Walking on grass/carpet
3. Vision Demo
- Ball tracking
- Field recognition
4. Game Demo
- Approaching ball
- Kicking
- Get-up from fallHardware Preparation
Checklist
Robot:
- All servos functioning
- Battery cells balanced
- Camera calibrated
- IMU calibrated
- Emergency stop tested
- Handle installed
Spare Parts:
- Backup servos (2-3)
- Extra batteries (2+)
- Cables & connectors
- Screws & bolts
- Tools kit
Logistics:
- Robot case/transport
- Chargers
- Laptop(s)
- Ethernet cables
- USB hubs
Software Preparation
Pre-Competition Testing
# Full system test
./run/run_vision_and_webots.sh
# Individual module tests
ros2 launch soccer_vision soccer_vision.launch.py
ros2 launch op3_walking_module walking.launch.pyTesting Checklist
| Module | Test | Pass? |
|---|---|---|
| Vision | Ball detection (near/far) | [ ] |
| Vision | Field line detection | [ ] |
| Walking | Forward 1m | [ ] |
| Walking | Turn 360° | [ ] |
| Walking | Walk + turn | [ ] |
| Balance | Push recovery | [ ] |
| Get-up | From face down | [ ] |
| Get-up | From face up | [ ] |
| Kick | Left kick | [ ] |
| Kick | Right kick | [ ] |
| Full | Approach + kick | [ ] |
Competition Day
Schedule Template
Day 0 (Setup):
- Robot transport & setup
- Technical inspection
- Field testing
Day 1-2 (Preliminaries):
- Pool matches
- Technical challenges
- Fix issues
Day 3+ (Knockout):
- Quarterfinals
- Semifinals
- FinalsAt Competition
Before Each Match
# Checklist:
1. Battery fully charged? ✓
2. Software latest version? ✓
3. Camera clean? ✓
4. Servos working? ✓
5. Emergency stop tested? ✓
6. WiFi connected? ✓During Match
- 1 operator untuk handling robot
- 1 technician untuk monitoring software
- Communicate dengan referee
Between Matches
- Charge batteries
- Review logs
- Fix bugs
- Adjust parameters
Common Issues & Solutions
Robot Falls Often
| Cause | Solution |
|---|---|
| Battery low | Charge/swap battery |
| Surface slippery | Check foot grip |
| Balance gains wrong | Tune PD controller |
| Speed too high | Reduce walking speed |
Vision Not Working
| Cause | Solution |
|---|---|
| Lighting different | Adjust HSV thresholds |
| Camera dirty | Clean lens |
| Exposure wrong | Adjust camera settings |
WiFi Issues
| Cause | Solution |
|---|---|
| Interference | Switch channel |
| Weak signal | Get closer to router |
| Wrong network | Check SSID/password |
Team Roles at Competition
| Role | Responsibilities |
|---|---|
| Team Captain | Strategy, communication with officials |
| Robot Handler | Physical handling during match |
| Software Lead | Debugging, parameter tuning |
| Hardware Tech | Repairs, battery management |
| Scout | Observe opponents, take notes |
Post-Competition
After Competition
- Debrief - Apa yang worked, apa yang tidak
- Documentation - Update wiki, write report
- Backup - Save all code and logs
- Maintenance - Service robot, clean, store properly
Improvement Plan
Analysis:
- What went well?
- What failed?
- What was close?
Action Items:
- Priority 1: ...
- Priority 2: ...
- Priority 3: ...
Timeline:
- Next competition: ...
- Development milestones: ...