Much progress on getting the Naos to walk has happened since our last post about getting the Nao to take his first steps. We are now able to walk in any direction, and even turn as well, all with one set of gait parameters.
Our top speed going straight ahead (measured with the simulator clock, and field lines) is about 13 cm/s. For comparison, the walk published from aldebaran is about 4.5 cm/s and the walk from the built-in urbi script is about 10 cm/s.
Although the walk is probably still a little too unstable to work on the real robot it will soon allow us to start writing behaviors and playing soccer in the simulator!
See the video of our walk here
Not only has the Blog been upgraded to Wordpress version 2.3.3, but it took a total of 5 minutes, with about 30 seconds of downtime and 30 seconds of reconfiguration-while-up time.
Woot. That was was much easier than last time…
Note the pyramid/triagles which lead up to each of the robocup’s, and then subsequently die off quickly.
Not surprisingly, Henry has logged the lion’s share of the commits, with a total of 1158 commits, followed by Jeremy (371), Me (360), Chown(252), Admin(239), George(217), Tucker(162) and Nick(157).
Though it’s stupid to measure quality of code soley by number of commits, the numbers certainly correlate well with how long each member has been on the team. Also, the Admin user’s commits are probably split between Henry and Jeremy, so Jeremy probably has many more commits than me.
Edit: The numbers I originally posted were wrong. They have been replaced by the correct ones.
In July 2006, after our first world robocup competition in Bremen, we ran David Wheeler’s SLOCCount on our codebase, when our SLOCCount was 33K. Today, I ran the script again, and our SLOC readings are nearly twice as high.
The big changes come from another 10K lines of C code for recognizing lines and the new goals, and 16K lines of Python code that define the behaviors we used to win last summer:
Total Physical Source Lines of Code (SLOC) = 60,496
Development Effort Estimate, Person-Years (Person-Months) = 14.85 (178.25)
Estimated Average Number of Developers (Effort/Schedule) = 9.95
Total Estimated Cost to Develop = $ 2,006,571
(average salary = $56,286/year, overhead = 2.40).
SLOCCount, Copyright (C) 2001-2004 David A. Wheeler
I’d be curious to know what the SLOCCount of other Aibo teams is – especially the GermanTeam, and the NUBots.
We’ve finally managed to take our first steps on the nao using our own motion engine. Though the step is small, we should soon be able to start walk learning on our parameters. We’ve posted the video here .
Edit: We’ve made the walk even better. Now (ahahahaha) it actually walks walks
Dates for our 2008 Robocup schedule are starting to come together. Right now we are definitely planning on going to the world championships in Suzhou China from July 14-20, and entering in at least the Nao league. We will also probably apply to compete in the Aibo league again, though that’s not for certain at this stage. In addition to China, we will also be attending the local US OPEN in Pittsburgh, Penn. from May 24-27 (no website yet).
Although we considered going to the German OPEN in April, the expense and the lack of Nao’s, as well as our uncertainty about the Aibo’s were all factors in deciding not to go this year. Hopefully we’ll get to go back there again next year and play in the Nao league.
