RGS

Robocup 2026

  • Dog robot (onstage)
    • Walking (gait)
      • For research, you can search for “quadruped gait”
      • Some useful links:
        • Real Animals (…nice videos with slow-mo)
        • Commercial toy robot (…the video and some of the description is nice, but the diagram and code are useless)
        • Generic description of a quadruped robot gait (…the timing diagram is good)
        • If you pay close attention to the leg movement in the three sources, you’ll realize that they are all almost entirely different from each other. They demonstrate different approaches, and it’s useful to think carefully about each of them and understand how each works.
      • When analyzing the movement of the the legs, you’ll realize that they are typically expressed in terms of the X and Y coordinates of the feet (eg. the timing diagram in the third link). But our motors are controlled by rotation / angle. You’ll need to use inverse kinematics (IK) to convert the cartesian (XY) coordinates to joint angles. You don’t need to understand everything in the IK link, but you should at least try to understand the section on “Analytical IK in 2D”. If you’re interested to learn the more generic numerical method, the above link can be rather difficult to understand, but I can go through one (relatively) simple method with you (…many methods exists).
    • Object detection (detecting people)
    • Speech recognition

Sec 1

IoTy

IoTy is a platform for programming the ESP32 using blocks or Python. This is useful for OnStage, Robocup Rescue Line (…if you’re building non-Lego robots), and for general electronics projects (eg. for WRO open category).

Others