This competition is composed of four steps described here:
1) Autonomous navigation test without collision with obstacles
2) Manipulator test for picking up, moving and releasing the objects
3) Simultaneous test of navigation and manipulation
4) Competition in pairs to manipulate the objects
- Steps 1 and 2 are planned to evaluate the performance of the participating robots; i.e. which robots are admissible for the next steps.
- Steps 3 examines the adequacy of the robots for industrial applications. The method of evaluation used in this step is explained later.
- Step 4 demonstrates the capacity of each robot and permits a comparison with other robots. So it is the most exciting part of the competition. In two face to face competitions, the teams which succeed to follow faster the inscription and which commit less errors will win the game. The winners of the competition will participate in the final and the others will participate in the third place playoff.
It should be noted that the teams are allowed to take more than one robot, but at least one robot must have both the wheel and the arm. An interesting idea might be using of the humanoids in this competition, specially as the presence of this type of robot in industries is emerging.
The dimensions of robot in non-extended mode, considering all peripherals, should not exceed a cube of 80*50*80 cm3 (length*width*height).
The robot arm should be design so that it could hold an object situated in an altitude between 0 and 40 cm from the roof. Actuators of the robot could be of any type including hydraulics and pneumatics.
Utilization of explosive or flammable materials in the robot is absolutely forbidden.
During its operation, the robot should not cause any danger for surrounding people and the competition environment.
In the face of any danger, the robot should have an emergency switch off system to avoid any harm to the environment or other robots.
The competition takes place on a square ground whose surface is between 2*4 m and 4*6 m.
The north of the ground is shown by +Y and its east by +X. The ground design follows the standards of the national skill competition and is not announced before. The ground details are:
The ground is made of wood-like materials and has a white color.
The surrounding wall around the ground has an altitude between 20 cm to 40 cm. Some gates are planned inside the wall for entry and exit of the robots.
The cubic obstacles of dimensions 10*10*10 cm are placed on the ground.
Labels are used to determine special positions on the roof. These labels are squared and in black and white colors. The size of the labels is 8*8 cm for the inner black square and 12*12 cm for the outer white tape. More information could be found in this website:
At the beginning, each team has a presentation of 20 min on the design, production and planning procedure and the cooperation between the team members.
As the robot enters the competition ground, it should go toward the specified position and start its tasks.
The team's robot has 5 min to accomplish the defined task. If one or some robots succeed to finish the task before this time, the one who has finished faster would achieve the highest score.
All teams have the possibility to reset two times its robot, but each reset causes the change in the defined task.
The defined task, which is distributed at the beginning of the competition, is a string in the following format: (<place>, , >)
The maximum weight of the objects which should be hold by the robot arm are 250 g.
The maximum width of the objects is 7 cm.
The objects are in the shape of cylinder or ring, as follows: (one of “cuboid”, “hexagon”, “cylinder”, “sphere”, “ring”)
Each object has a color of this list: (“red”, “green”, “yellow”, “blue”)
The robot task is provided by the referees around 10 min before the beginning of the competition.
In the step 4, two robots enter simultaneously to the competition environment. The first tasks are the same for both robots, while the final tasks are different.
Scores in the third step:
As specified, the steps 1 and 2 have no score. Only the qualified teams could participate in the next steps.
In the step 3, the referees evaluate the teams considering the following items and select 4 robots to participate in the final step:
- Tasks shortest time
- Parts shape and color detection without error
- Automatic navigation on the ground without colliding the obstacles
- Automatic and remote control of the arm
- No collision with the wall and the obstacles and no hurt to the ground
The score details are presented here:
1) Navigation part (maximum 500 points)
The robot navigation on the ground in a full automatic mode could offer up to 500 points to a team. Every case of collision with the wall or the obstacles or attacking the ground causes a negative score of 20 points. A robot will be out of the competition if it commits two attacks against the ground.
2) Arm control (maximum 500 points)
The control of robot arm is considered to evaluate the participating teams. If the team can control the arm automatically, up to 500 points will be allocated to its score. If a remote joy steak produces the arm control, this score will not exceed 200 points and this two scores are not accumulative. An error in detection of the form or the color of an object figures out 20 negative points. If a robot drops the object during the manipulation, it loses 50 points.
It is possible that considering the decision of the executive committee, the competition rules and environment change till 2 weeks before the Autcup start date. Therefore the participating teams are kindly requested to consult regularly our website. If you have questions, comments, or suggestions about the competition, please contact the committee by email.
All the participating teams are requested to send their TDP (Team Description Paper) to the technical committee during the specified period. The only criteria for admission is based on the TDP of the teams. It is advised that each participant send also some videos of the process of producing and testing of the robot.
The participants of the rescue and deminer leagues have the possibility to change a little their robotic arms to participate in the @factory league.