[robocup-humanoid] [Fwd: About the rule]

[stryk at sim.tu-darmstadt.de]

Dear Naoki Shibatani, Dear Teams,

> - 19.1 Obstacle Avoidance:
> there is possibility that the open-loop walking robot attain the
> gaol(achieve the task).
> (It might be no vision sensor needed for achieving this task.)

The aim of the obstacle avoidance challenge is to develop
skills for obstacle avoidance using vision.
The setup should be in a way that it is very unlikely to solve the
obstacle avoidance challenge with offline programmed robot.

I do not share your concern, because I think it is very unlikely.
But I would also agree to some modifications to increase
the difficulty for open-loop programmed robots.

> For countermeasure,
> a.The referee puts the robot at the start position.

The start position could be modified from the center mark
to any position within a radius of 20cm (as the ball location in penalty
kick) around the center mark.

> b.Limitting the number of retire.
>    -> When the team call "retire", the referee change the position of the
> obstacle poles.
>         So the team might call and call until the pole positions are as
> they
> want.

The total time for the three technical challenges is limited to 25 minutes.
Before a team can call for a retry of a challenge they must first make
serious attempt to solve the challenge before it can be retried.
And this takes time. So there cannot be too many retries, I think.

> c.Make this TC harder
>   -> The goal means the robot touches the pole in the goal area.
>        (Now in the rule, the goal means the robot enter the goal area.)

A pole in the goal area which is to be touched may be very difficult to
distinguish from a pole that must not be touched.
The poles are supposed to imitate other robots.
So the robots should learn to avoid them by walking around them using vision.

But referee training for this challenge will be important to make
it work well. (A similar challenge has been used successfully in the
middle size league previously.)

With best regards,
Oskar von Stryk
www.dribblers.de