Project Plan¶
Requirements¶
- Sketch of a scenario:
- Flow chart of the sequence:
1. Starting the game
a. Set up game pieces
2. Playing the game
a. Completing a move
b. Timing the move
c. Removing pieces
d. Replacing pieces
3. Ending the game
a. Relocating pieces to initial positions
Resources¶
- Confirmed:
- FRANCA
- Chessboard
- Chess Pieces (custom to start with)
- Camera (RGB-D, MS Kinect?)
- Chess clock
- Maybe:
- Sensors for end-effector (force detection, IMU?)
- Customised chess board
Work Breakdown Structure¶
Each person’s key areas of interest and work division and summarised in the table below:
Area of work | Starting teams (lead in bold) | Change in teams |
---|---|---|
Documentation | Ben | Ben |
Physical build | Sanish, Paolo, Anna | n/a - (expected completed first) |
Perception | Leah, Paolo | Leah, Paolo |
Game Engine | Josephine, Ben | n/a - (expected completed first) |
Movement | Anna, Sanish, Sylvia | Josephine, Anna, Sanish, Sylvia |
Interface/Controller* | Ben | Ben |
*implemented later on
Gantt Chart¶
The Gantt chart is dynamic and can be viewed here: https://docs.google.com/spreadsheets/d/1-BJZdqYe8wWnCwUJs8sGYKyAoFGYXU7qOBCCHt1B_Ek/edit?usp=sharing
Implementation¶
The hardware/software/component approaches to this project will be developed out further with modifications to this system diagram. This will come over the next few weeks.
Expected Difficulties¶
Difficulty | Mitigation strategy |
---|---|
Gripping outsized pieces (e.g. knight) | Standardised grip geometry at the bottom of each piece |
Positional drift of chess pieces | Perception (active) and gripping (passive) system that can mitigate against drift |
Large RGB-D tolerances leading to board misalignment | Maintain fixed board location |
Integrating the game engine with the motion control | Dedicated project director and clear code structure |
Reliably identifying board in a darker environment | Set up lighting rig to illuminate area |
Grid assignment misaligning on boot | Maintain fixed board location |
User does not remember to press chess clock | Time-out beeper, game manual |
Risk Assessment & Safety Plan¶
In the FRANKA user manual, pages 62-86 describe an extensive risk assessment.