Project Plan


  • 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


  • 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



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.