Lua. {h-koba, j-inoue, and Abstract

Transcription

1 Lua A Simulator of Four-Legged Robot League in RoboCup using an Scripting Language Lua Hayato KOBAYASHI 1, Jun INOUE 1, Akira ISHINO 2, and Ayumi SHINOHARA Graduate School of Information Science and Electrical Engineering, Kyushu University 2 Office for Information of University Evaluation, Kyushu University 3 Graduate School of Information Sciences, Tohoku University {h-koba, j-inoue, ishino}@i.kyushu-u.ac.jp and ayumi@ecei.tohoku.ac.jp Abstract In RoboCup four-legged robot league, no modifications or additions to the robot hardware are allowed; hence, there is no difference between teams without software. For optimum results, to improve the software development process is critical. In this paper, we introduce a method of using the scripting language Lua in soccer robots, and we show the soccer simulator, in whichluascriptsareexecutedasinrobots. Using the scripts in both the environments has made it easy to develop soccer robots. 1 AIBO (ERS-210, ERS-7) [1] 4 4 AIBO ERS-7 64bit RISC CPU 64MB LAN OS AIBO 1. PC C++ 2. PC AIBO 5. AIBO AIBO 6. AIBO 7. AIBO AIBO 7 AIBO AIBO 2 7 ARAIBO [2] ASURA [5] GermanTeam[9] UChile1 [12] GermanTeam XML XABSL [7] XABSL Lua Lua Jolly Pochie AIBO MicroPerl

2 Figure 1: Jolly Pochie Figure 2: [6] MicroPerl AIBO 2 Jolly Pochie Lua 3 4 OPEN-R TECHNO FORUM Lua Lua C Lua Lua Lua C/C++ Lua C API Luabind [8] 2.1 Jolly Pochie Jolly Pochie AIBO [4] 1 Jolly Pochie OPEN-R 1 OObject OPEN-R C++ 1 SONY AIBO API OPEN-R OObject AIBO AIBO Lua 40ms mindnotify AIBO mindnotify 2.2 Lua 2 Lua Lua C++ Lua Lua C++

3 Lua Luabind Lua swingstart JPLua::L Lua luabind::call_function<void>(jplua::l,"swingst art"); Lua C++ Luabind Basic- MotionJPM swinghead module(jplua::l) [ class_<basicmotionjpm>("basicmotionjpm").def("swinghead",&basicmotionjpm::swinghead) ]; get_globals(jplua::l)["basicmotion"] = this; Lua "basicmotion" BasicMotionJPM this Lua basicmotion:swinghead(0, 0, 0) Jolly Pochie AIBO Lua C++ C++ Lua BasicMotionJPM AdvancedBasicMotionJPM Lua AdvancedBasicMotionJPM 2.3 Lua C++ Lua end AIBO FTP AIBO 1. PC Lua 2. Lua FTP AIBO 3. AIBO Lua 4. AIBO 5. 2 Lua Lua C++ Lua (MicroPerl) UPENNALIZERS [3] Lua Perl Lua Pascal 3 Lua Lua Lua AIBO AIBO VPython [11] Python Lua Jolly Pochie UDP

4 Figure 4: Figure 3: 40ms Lua 8ms UDP Lua C++ Lua AIBO Luabind Lua Lua OPEN-R XYZ HeadKinema 3.2 VPython AIBO VPython 4, 5 AIBO AIBO 6 Figure 5: Figure 6: AIBO AIBO AIBO 40ms 3.3 UDP 3 C++ Python C++ SWIG(Simplified Wrapper and Interface Generator) [10] Lua Lua 40ms mindnotify 8ms 40ms 1 8ms 5

5 soundplayer = {} function soundplayer:playsoundonce() end function soundplayer:playsoundstop() end Figure 8: Figure 7: 12 AIBO [13] AIBO UDP UDP 2 UDP UDP 1 AIBO 3.4 C++ Figure 9: Lua 8 AIBO AIBO C++ HeadKinema Lua AIBO AIBO

6 1. PC Lua 2. PC 3. 2 AIBO AIBO 4 Lua AIBO SONY OPEN-R TECHNO FORUM 2004 in Japan (2004/12/4) PK [3] D. Cohen, Y. H. Ooi, P. Vernaza, and D. D. Lee. The University of Pennsylvania Robocup 2003 Legged Soccer Team. Technical report, UPENNAL- IZERS, [4] J. Inoue, H. Aoyama, A. Ishino, and A. Shinohara. Jolly Pochie 2004 in the Four Legged Robot League. Technical report, Jolly Pochie, [5] T. Ishimura, T. Kato, K. Oda, and T. Ohashi. An Open Robot Simulator Environment. In RoboCup 2003, Vol of LNAI, pp Springer, [6] T. Jenness and S. Cozens. Extending and Embedding Perl. Linux Journal, 2003:15, July [7] F. Lötzsch, J. Bach, H.-D. Burkhard, and M. Jüngel. Designing Agent Behavior with the Extensible Agent Behavior Specification Language XABSL. In 7th International Workshop on RoboCup 2003, LNAI. Springer, [8] Luabind. [9] T. Röfer. German team robocup 2004 technical report. Technical report, German Team, [10] Simplified Wrapper and Interface Generator. http: // [11] VPython. [12] J. C. Zagal and J. R. del Solar. UCHILSIM: A Dynamically and Visually Realistic Simulator for the RoboCup Four Legged League. In 8th International Workshop on RoboCup 2004, LNAI. Springer, [13],,,,.., March [1] AIBO SDE Homepage. openr/jpn/index.php4. [2] K. Asanuma, K. Umeda, R. Ueda, and T. Arai. Development of a Simulator of Environment and Measurement for Autonomous Mobile Robots Considering Camera Characteristics. In Robot Soccer World Cup VII, pp , 2004.