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Tsukuba Challenge: An Open Experiment of
One Kilometer Autonomous Navigation by Many Mobile Robots
in Usual Living Environment in Tsukuba City
ICMA (Aug 9th, 2011)
Shin’ichi YUTAProfessor, University of Tsukuba
Tsukuba Challenge-- Real world Robot Challenge in Tsukuba City Purpose:
Stimulation in the Real World Robot Technology
Getting a Proper Understanding by Usual People on the “State of the Arts” in Robot Technology
Organized and Operated by New Technology Foundation (NTF), andTsukuba City (Local Government)
Movies Clips from Tsukuba Challenge 2010
Science News by JST:Trial Days Science News by JST:Final
TV News by FNN
Tsukuba Challenge2010JST 本走行
TsukubaChallenge2010-FNN
Tsukuba Challenge2010 JST 実験走行
Challenge of Integrated Robotic Systems
in Concrete Real World
Mission Oriented Approach for Robust Robotic System Technologies Importance of Experience in Real World
DARPA operation Grand Challenge 2003-2005 URBAN Challenge 2007
Various Robot Contests RoboCup Micro Mouse
Mission of Tsukuba Challenge for Robots
Autonomous run of 1km on the street for pedestrians
Environment should be as they are (no artificial change)No special treatment for the surface of the
streetNo postponed in case of rainThere may be pedestrians or bicycles
Route of Tsukuba Challenge2010Total Distance: 1120m
•Course : Tsukuba City Pedestrian Street next to Tsukuba Central Park + Tsukuba Central Park + Side Walk of Bus Street + Tsukuba Center Plaza•Start: Tsukuba Expo Center, Entrance Square•Goal: Tsukuba Science Information Center ( Inside of a Building)
Tsukuba Challenge Real World Robot Challenge (RWRC)
Not a “Competition” No OrderDefine a Common Mission
and Share the Place of Real World Experiment
Disclose Technical Information and Share Experiences
No Prize! http://www.ntf.or.jp/challenge/
Real World Robot Challenge ( RWRC ) Balanced Design and Implementation of
Hardware and Software for Real Problems
Real World:Physically Socially
No Excuse can be Made when Failure
Bridge between Advanced Technologies and Practical Applications
Tsukuba Challenge - Mission Compatibility with Society
For the Robots Work with the People Living in the Same Environment, Robot Should
Never Harm People Never Give a Feeling of Frightened or
Discomfort Never Give a Damage on Any Object in
Environment Not Disturb People nor be Obstructive for
the Working Object in Environment
Tsukuba Challenge - Mission Autonomy of the Robot
For Autonomy, Robot Should Have all Functions as Energy Source or
Information Processing in the Body,
ie. Self-Contained Be Prepared all Necessary Hardware,
Software and Environment Information
to Complete the Mission
Tsukuba Challenge - Mission Environment Environment should be, as they are
No special treatment for the surface of the street No postponed even in case of rain There may be pedestrians and bicycles
Environment depends on the Weather Surface Condition of the Roads Depends on the
Weather of the Previous Days, Water pool or Fallen Leaves May Remain on the Road
Environment may also Depend on Social Conditions
Any Objects Originally Existing in the Environment May be Used as a Guide for Navigation, But not Artificial Change can be Made or added on the Environment.
Technologies for Completing the Task Wide Range of Possibilities / Strategy Total Design / Element Selection
Imagination to the Possible Situation Interface with People
Test and Design / Development Cycle
Technologies (Hardware) Vehicle Mechanism
Wheel / Track Suspension PWS / Steering
Battery / Power Management Motors / Drivers Sensors
Odometry IMS / Gyro / Accelometor GPS Vision Camera / Lidar (Sokuiki Sensor)
Single / Multiple / Scanning Magnetic Ultrasound / Audio
Technologies (Control) Control Strategy
Detail Position Estimation / Road FollowingTeaching Playback / Motion Design
MapMeasured / Self-madeGoogle / Provided by Local Government
PositioningGPS Land Marks
Selection Motion Control
Collision Avoidance / Safety
Technologies (Development Environment)
Hardware / Software Monitoring / Record
Online / Offline Wired / Wireless
Simulation Sensing / Decision / Motion
Tools Operator Interface
Preparations and Operation by Organizer Side
Concept and Rules Environment
To Use Public Street
Operation Registration Safety Management Management of the Days of Trials and Final Publicities
Permission for Using Public Street is Required
Route is a Public Pedestrian Street (not for Motor Driven Vehicle)
This Street is governed by Tsukuba City, but, Special Permission is Necessary from the Police Office (!).
Permitted as a Robot Experiment on the Public Road after Negotiations
Several Strict Conditions Given for the Safety of Citizens
Conditions - for Using Public Road
Road can be Used Only at Appointed Days Setting about 10 Official Trial Days
Put Signs of “Robot Experiment” for Citizen Prepare Staffs in Charge of Controlling Traffic
of Pedestrians and Bicycle Assign a Person in Charge of Safety
Management for Each Participating Team
Instructions for the Robot For Safety and Compatibility with Society
Robot size less than 75cm (W), 120cm (L),150cm(H)
Robot weight less than 100kg Maximum speed 4km/h Emergency stop switch Accompanying operator for emergency when the
robot moves by power Robot should be Designed in accordance with
environmental and ecological attention
Tsukuba Challenge 2010
Date: Nov.18(Thu.)-19(Fri.), 2010 Place: Tsukuba City Route: 1km+ in
Pedestrian Street, Side walk of Street, Promenade in Citizen’s Park Tsukuba Center Plaza
Start: Tsukuba Expo Center Entrance Square Goal: Tsukuba Science Information Center ( Inside of a Building)
Route of Tsukuba Challenge2010Total Distance: 1120m
•Course : Tsukuba City Pedestrian Street next to Tsukuba Central Park + Tsukuba Central Park + Side Walk of Bus Street + Tsukuba Center Plaza•Start: Tsukuba Expo Center, Entrance Square•Goal: Tsukuba Science Information Center ( Inside of a Building)
Time Schedule of Tsukuba Challenge2010
Registration for Participation : June 30th Kick-off Meeting : July 24th Open Experiments (8days = Sat. or Sunda
y ): July 24th, Sept. 4th, Sept. 26th, Oct. 15th,
Nov. 6th, Nov. 14th, Nov. 16th, and Nov. 17th Rally - Trial: Nov. 18th (Thu.) Rally – Final: Nov. 19th (Fri.)
Tsukuba Challenge2010 Registrants (Number of Participated Team)
Registration 68 ( incl. 59 Teams Cont. from TC2009)Participation of Rally 64Teams Passing Trial 31(+
1)Succesfully Completed Mission 7
Participants in Tsukuba Challenge 2009
University 48 Research Labs. 4 Companies 2 Joint of Uni. & Company 6 Club or Circle 7 Personal 5 ( Total 72 )
Participants in Open Experiment Day (2010)
First 7/24 33
Second 9/4 33
Third 9/26 31
Fourth 10/15 47 Fifth 11/6 45
Sixth 11/14 43
Seventh 11/16 55
Eighth 11/17 66
Total Participants: 353
Record of Tsukuba Challenge2010 Rally ー Trial Run and Final Run
Trial Run 240m Section (Nov.18) 64 Robots Participated25 Robots Passed in First Trial 6 Robots Passed in Second Trial
Only the Robots Passed the Trial Section Qualified to Start Final
Final Run 1.1km (Nov.19) 32 Robots Started 7 Robots Completed
Teams and their Robots Completed the mission Intelligent Systems Lab, UEC
CARTIS TypeR
Intelligent Robot La.b. Uni. Tsukuba
Hitotsubo
Mech. Tech. Lab., Hitachi Sofara-T
Furo, Chiba Inst. Tech. Papyrus Ⅲ
Scuderia Frola AIST Marcus
Robotics Lab.,NADSmart Dump IV
Fuji Soft Corp. and Uni. Tsukuba
TUFS2010
Tsukuba Challenge 2010
Movies Clips from Tsukuba Challenge 2010
Science News by JST:Trial Days Science News by JST:Final
TV News by FNN
Tsukuba Challenge2010JST 本走行
TsukubaChallenge2010-FNN
Tsukuba Challenge2010 JST 実験走行
Records of Tsukuba Challenge 2007-2009First (2007) Registrant 33teams Participants in Elimination Trial(100m)
27teams Qualified 11teams Run Completed 3teams
Second (2008) Registrant 50teams Participants in Elimination Trial(100m)
47teams Qualified 22teams Run Completed 1teams
Third (2009) Registrant 72teams Participants in Elimination Trial(100m)
66teams Qualified 34teams Run Completed 5teams
For Good and Effective Use of Results and Experience Publicity
Make Many People and Media have Interests
However, it is not a Event to Show
Request Disclosure of InformationPromotion of Special Articles in Journal/MagazineHave Symposium and OS in Conference
Encourage to make it Open in Source Level
For Sharing Information Organized Sessions in SICE-
SI2007, SI2008, and SI2009 Special Symposium for
Tsukuba Challenge (January, Tokyo)
HP http://www.robomedia.org/ challenge/
Lessons and Impression from the View Point of Organizer Many Participants and Robots Many Audience without Effort in Publicity Weather (not Controllable) Real Time Broadcast in WEB
Attitude of Passers-by and Audience ( at Test Run Day and Final) Big Support by Local Community Structure for Keep Safety
(Short Range) Goal of Tsukuba Challenge
Realize a Mobile Robot Capable to Move in Any Place of Pedestrian’s Street in Tsukuba City
Utilization of these Technologies in Real Problem of the Society
As the Result, Get Understanding of the Meaning of Robots
And then: Make it Easy to Test the Robots Motion and Interaction with People in the Public Space
The Final Tsukuba Challenge (in the Current way) will be held in Nov. 2011
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