Changes between Version 4 and Version 5 of BabyTigers-R/2026

Timestamp:

03/19/26 01:10:25 (3 days ago)

Author:

kosuke

Comment:

--

BabyTigers-R/2026

@@ -8 +8 @@
 
 === Members ===
- * IND01: !BabyTigers-R
-  * Wataru Uemura
-  * Kosuke Nakajima
-
------
+
+IND01: !BabyTigers-R
+
+Wataru Uemura / 植村 渉
+
+Kosuke Nakajima / 中嶋 洸介
+
 [[br]]
 
-== RoboCup2026 Inchoen ==
- - https://2026.robocup.org/
- * team description paper is [https://vega.elec.ryukoku.ac.jp/trac/raw-attachment/wiki/BabyTigers-R/2026/RCLL_TDP_BTR2026.pdf here].
+== RoboCup2026 Incheon ==
+
+https://2026.robocup.org/
+
+team description paper is [https://vega.elec.ryukoku.ac.jp/trac/raw-attachment/wiki/BabyTigers-R/2026/RCLL_TDP_BTR2026.pdf].
 
 === Members ===
- * !BabyTigers-R
-  * Wataru Uemura
-  * Kosuke Nakajima
+
+!BabyTigers-R
+
+Wataru Uemura / 植村 渉
+
+Kosuke Nakajima / 中嶋 洸介
 
 === Team Description Paper ===
- - Name of the team (title)
-   * !BabyTigers-R
-
- - Team members (authors), including the team leader
-   * 植村　渉，中嶋　洸介
-   * Wataru Uemura, Kosuke Kakajima
-
- - Link to the team website
-   * https://vega.elec.ryukoku.ac.jp/trac/wiki/BabyTigers-R/2026
-
- - Contact information
-   * robocup@vega.elec.ryukoku.ac.jp
-
- - the focus of research/research interests
-   * 自己位置推定
-   * マーカー検知・認識
-   * 経路計画（局所的経路計画）
-
- - a description of the hardware, including an image of the robot(s)
-   * Mobile robots
-     * Robotino 3/4
-     * Kachaka
-     * myAGV
-   * Arm-typed robots
-     * Cobotta
-     * MyPalletizer
- 
- - a description of the emergency stop concept and its implementation
-   * Now implementing ...
-
- - a description of the software, esp. the functional and software architectures
-   * python + ROS2
-
- - innovative technology (if any)
-    * 3D-Lidar
-    * Marker Detection
-
- - reusability of the system or parts thereof
-    * Hardwere part + Software part
-    * bridge ROS1 and ROS2 using SSH
-
- - applicability and relevance to industrial tasks
-    * ROS2 framework
-
- - usage of components (software or hardware) developed by other !RoboCup teams
-    * communication module for RefBox
-      * ROS1 and ROS2
-----
+
+- Name of the team (title)
+
+* !BabyTigers-R
+
+- Team members (authors), including the team leader
+
+* Wataru Uemura (Team Leader) / 植村 渉（チームリーダー）
+
+* Kosuke Nakajima (Team Leader) / 中嶋 洸介（チームリーダー）
+
+- Link to the team website
+
+* https://vega.elec.ryukoku.ac.jp/trac/wiki/BabyTigers-R/2026
+
+- Contact information
+
+* robocup@vega.elec.ryukoku.ac.jp
+
+- the focus of research / research interests
+
+* EN:
+
+ * Robot localization using SLAM and visual markers
+
+ * Robust ArUco marker detection with error correction
+
+ * Multi-robot path planning and coordination
+
+ * Smart manufacturing and industrial automation systems
+
+* JP:
+
+ * SLAMおよびマーカーを用いた自己位置推定
+
+ * 誤り訂正を含むArUcoマーカー高精度認識
+
+ * マルチロボットの経路計画・協調制御
+
+ * スマートマニュファクチャリングおよび産業自動化
+
+- a description of the hardware, including an image of the robot(s)
+
+* EN:
+
+ * Mobile platforms: Robotino, Kachaka, and myAGV (Mecanum-wheel omnidirectional drive with LiDAR)
+
+ * Manipulators: Cobotta and myPalletizer (4-DoF arm with onboard Raspberry Pi control)
+
+ * Sensors: Intel RealSense D435, USB camera, and LiDAR for perception and localization
+
+* JP:
+
+ * 移動ロボット：Robotino、Kachaka、myAGV（メカナムホイールによる全方向移動・LiDAR搭載）
+
+ * アーム：Cobotta、myPalletizer（4自由度・Raspberry Pi制御）
+
+ * センサ：RealSense D435、USBカメラ、LiDAR
+
+- a description of the emergency stop concept and its implementation
+
+* EN:
+
+ * Hardware-level emergency stop via a dedicated power cutoff button (under implementation)
+
+ * Software-level safety using ROS2 monitoring nodes to issue zero-velocity commands and disable actuators
+
+ * Dual-layer safety architecture ensuring reliable operation
+
+* JP:
+
+ * ハードウェア：電源遮断型の非常停止ボタン（実装中）
+
+ * ソフトウェア：ROS2ノードによる異常検知と停止制御
+
+ * ハード・ソフトの二重安全構造
+
+- a description of the software, esp. the functional and software architectures
+
+  * EN:
+
+   * Python-based system built on ROS 2 (Humble / Jazzy)
+
+   * Custom ROS2 bridge for RefBox communication
+
+   * SLAM-based localization and modular architecture
+
+   * SSH-based manipulator control decoupled from ROS
+
+  * JP:
+
+   * Python + ROS2（Humble / Jazzy）による構成
+
+   * RefBox通信のための独自ブリッジ
+
+   * SLAMによる自己位置推定とモジュール設計
+
+   * SSHによるROS非依存アーム制御
+
+- innovative technology (if any)
+
+  * EN:
+
+   * Error-resilient ArUco marker detection with row-wise correction
+
+   * Cooperative localization among multiple robots
+
+   * Low-cost 3D mapping using tilted LiDAR
+
+   * Exploration of LLM-based robot programming
+
+  * JP:
+
+   * 行単位誤り訂正による高耐性ArUco検出
+
+   * 複数ロボット間の協調位置推定
+
+   * LiDAR傾斜による低コスト3Dマッピング
+
+   * LLMを活用したロボット制御研究
+
+- reusability of the system or parts thereof
+
+  * EN:
+
+   * Modular architecture separating hardware and software
+
+   * ROS-independent manipulator control via SSH
+
+   * Compatibility with both ROS1 and ROS2 ecosystems
+
+   * Open-source RefBox communication modules
+
+  * JP:
+
+   * ハード・ソフト分離のモジュール設計
+
+   * SSHによるROS非依存制御
+
+   * ROS1/ROS2両対応
+
+   * RefBox通信のオープンソース化
+
+- applicability and relevance to industrial tasks
+
+  * EN:
+
+   * Designed for smart manufacturing environments
+
+   * Supports flexible, high-mix low-volume production
+
+   * Enables scalable and adaptive robotic systems
+
+  * JP:
+
+   * スマートマニュファクチャリングへの適用
+
+   * 多品種少量生産への対応
+
+   * 拡張性の高いロボットシステム
+
+- usage of components (software or hardware) developed by other !RoboCup teams
+
+  * EN:
+
+   * RefBox communication modules originally developed for ROS1
+
+   * Extended and maintained for ROS2 by our team
+
+  * JP:
+
+   * RefBox通信モジュール（ROS1ベース）
+
+   * ROS2対応として自チームで拡張・公開