We have exciting new projects, not only for SA and MA students, but also for freelancers looking for a fun and interesting project next to ETH obligations. If you are interested in a SA or MA please contact one of our PhDs to discuss project ideas. For Freelancer projects, check out the list of current projects below and contact one of our TAs for more information.

If you are interested in previous projects, go to our Project Report site, where you can download multiple reports of previous projects.
If you are from a different team and your team works with the B-Human code framework, make sure to check our YouTube channel for some tutorials on the framework by Filippo Martinoni.

Spring 2018 Project Proposals

Please contact our TAs or PhDs directly to discuss project ideas or refer to posted projects on the websites of IfA and CVL.

Current Freelancer Projects

This is a list of most current freelancer projects. If you are interested or have other ideas, please contact one of the team’s TAs for more information.

  1. More Robust and Consistent Ball Detection for the Goalkeeper [open]
    The keeper needs good estimates of ball velocity to decide what to do, but our estimates are almost always bad. The problem could be false negatives from the random forest classifier or a problem with the Kalman filter that takes the detections, smooths the position and estimates the velocity. Find where it fails and fix it!
  2. Improve the Goalkeeper Behavior [open]
    The goalkeeper’s ultimate job is to prevent the ball from being anywhere close to the goal; look at whether the current behavior does that well. What happens when the ball is not in sight, when the ball is seen far away, when the ball is near, after blocking the ball, etc. How does it react to different types of attack from opponents (center shot, goal corner shot, weak shot, saved shot that bounces back, …)?
  3. Penalty Keeper Improvement [open]
    The Penalty Keeper is different from the normal keeper. In shootouts, the ball starts motionless at the penalty mark and the opposing striker can only kick/touch the ball once. Improve goalie reaction time (sit/bend knees more/spread out arms for faster dive reaction)
  4. Log Games on USB [open]
    Recording some data (like behavior graph, joint & sensor data, ball & line percepts, robot location, ball location, etc.) from the robot during games helps identify what is wrong when the robot doesn’t behave as expected. A logging feature exists but is unused; understand it and make it usable in a game.
  5. Improve Special Actions (Multiple Students) [open]
    Special actions are scripted sequences of joint movement, like getting up after a fall or diving to the side (for a keeper). An example in this area would be to make a faster get-up motion for when the robot is lying on its belly.
  6. Approach and Kick the Ball Faster [open]
    Our robots currently take some time to walk to the ball, align to the right direction and kick it. Find out which parts of the ball approach are slow and make them faster.
  7. Automatic Calibration [open]
    Before every game, we have to calibrate every robot’s camera by clicking on the field lines inside the camera image, a very tedious process. Somewhere else, we also have code that detects field lines in images. Determine if there is a way to link these together to improve the calibration process.

Fall 2017 Project Proposals

For the fall semester all projects have already been taken. If you are interested in a project for winter/spring 2018, please don’t hesitate to contact one of our TAs.

  1. Detecting own and opposing robots
  2. Game play strategy and position optimization
  3. AI / Robot Communication / Computer Vision
  4. Dynamic walking on different surfaces
  5. Improvement of robot localization during game play (i.e. the symmetry problem)

Spring 2017 Project Proposals

  1. Robot external calibration
  2. Top View Detection and Tracking of Field Elements
  3. Robot Communication between Coach and Players
  4. Improving Self-Localization
  5. Improvement in Kicking and Passing Behavior
  6. Adding a Model Predictive Controller to the Passing Engine

Fall 2016 Project Proposals

  1. SLAM continuation
  2. Self-localization
  3. Ball detection
  4. Decision making for behavior (e.g. shoot, dribble, pass)
  5. Collaborative ball localization
  6. Automated color calibration
  7. Gaze stabilization for NAO robot

Spring 2016 Project Proposals

  1. SLAM continuation
  2. Collaborative ball localization
  3. White goal detection and localization
  4. Robot classification
  5. Robot detection
  6. Decision making for behavior (e.g., shoot, dribble, pass)
  7. Gaze stabilization for NAO robot
  8. Master project: Dynamic Analysis and Optimal Control of a Robotic Bipedal Locomotion System