Baxter_gobang

Baxter robot play the gobang with human. #CV#gobang#Baxter#ROS#Matlab

Nodes & Topics

Nodes

• gobang_ai
• arm_controller
  • measure the position of chess board
  • grip chesses by the hand camera
  • place chess
• image_processor
• face - show picture on xdisplay
• head -

Topics

• Info/board ChessBoard
  • Information about chess board / 棋盘信息，初始位置信息
  • Pub : [image_processor]
  • Sub : arm_controller
• posi/human ChessMove
  • human move, incudes withdraw/change difficulty / 人下的位置，可选参数包括重新开始，改变难度和悔棋（相应操作未实现）
  • Pub : [image_processor]
  • Sub : gobang_ai
• posi/ai Int16MultiArray(Better change it to custom type)
  • ai_move / ai计算得的下一步位置
  • Pub : gobang_ai
  • Sub : arm_controller
• ai_state - waiting/thinking/win/lose - for face photos
  • Pub : gobang_ai, arm_controller, image_processor
  • Sub : face

Referrence

Andrew Tzer-Yeu Chen and Kevin I-Kai Wang ,Computer Vision Based Chess Playing Capabilities for the Baxter Humanoid Robot

gobang AI

mostly from https://github.com/skywind3000/gobang, modified it to fit ROS

arm_controller

• movement - baxter demo ‘pick and place’
• graph process - Baxter抓取物块——基于单应性矩阵（一）

face

baxter_tool

Pictures

https://cloud.tsinghua.edu.cn/d/38ad384fa774416fab5a/

Next

• when to deal with the board to get information?
• ik needs to be modify. not just thrust into the board…

Problems

• Internet delay causes gripping process unstable – it will keep move as the camera photo is not updated - use Ethernet will make sense.