IES SMC EdSoc

IEEE TSYP 12
Technical Challenge

CHESS
COACH
ROBOT

IEEE ENET’Com SB
TABLE OF CONTENTS
I-Introduction..................................................................................1
1.Problem Statement...................................................................1
2.Orientation.....................................................................................2
3.Project Objectives.....................................................................3
II-Solution Overview..................................................................4
1.Introduction....................................................................................4
2.Model Enhancement..............................................................5
a.Energy Optimization...............................................................6
b.Materials..........................................................................................7
c.Robotic Hand Mechanics ....................................................8
d.Camera Integration................................................................10
e.Chess API........................................................................................11
3. Learning Outcomes...............................................................12
a. Pedagogical Approaches...................................................13
b. Communication.......................................................................14
III-Prototype Overview...........................................................16
1.Architecture Design.................................................................16
2.Components.................................................................................17
VI-Conclusion.................................................................................18
I-Introduction
1.Problem statement

1. In Tunisia, the use of robotics in education is limited, despite

its potential to enhance learning by combining technology
with interactive teaching methods. The lack of adoption is
due to several key issues:
2. High Costs: Most robotic systems are expensive, making
them inaccessible to the majority of educational institutions,
particularly in underserved regions.
3. Limited Sustainability: Many robotic solutions use materials
and energy systems that are not environmentally friendly or
cost-effective, raising concerns about long-term
sustainability.
4. Safety Concerns: Current robotics designs often fail to
prioritize safety, particularly for young students. Unsafe
materials or mechanisms could pose risks in a classroom
setting.

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5. Lack of Interactivity: Existing robotics applications in
education do not engage students effectively, reducing their
value as teaching tools. Traditional designs often focus more on
technical performance than on interactive and pedagogical
elements.
6. Inflexible Designs: Robotics systems are often rigid in their
design and purpose, limiting their adaptability to diverse
educational settings and learning objectives.
These barriers prevent schools from integrating robotics into
their curriculums, leaving students with fewer opportunities to
engage with cutting-edge technology and develop skills in
STEM fields.

2.Orientation

Our orientation for this problematic aims to develop an

affordable, safe, and eco-friendly robotic arm designed
specifically for educational purposes. This robotic arm will serve
as an interactive chess coach, blending AI technology and
robotics with engaging teaching methods. The robot will
address the identified challenges through a focus on cost-
effectiveness, sustainability, interactivity, and adaptability,
ensuring it is suitable for use across schools in Tunisia.

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3.Project objectives

Build a Safe and Sustainable Robotic Arm:

Use recycled materials like aluminum and lightweight
plastics that are safe for children and better for the
environment.
Make the robot durable and energy-efficient.
Create an Energy-Efficient Design:
Include a solar-powered charging system to reduce
energy costs.
Use long-lasting lithium batteries to store power.

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 Make Learning Fun and Interactive:
Use AI to move chess pieces, give feedback, and teach
strategies during the game.
Ensure the robot provides real-time feedback to keep
students engaged.
Focus on Affordability and Accessibility:
Design the robot to be low-cost so schools in Tunisia
can afford it.
Make it flexible and easy to use in different educational
settings.
Support Education Across Tunisia:
Create a robot that fits the needs of schools of all levels,
from elementary to high school.
Help students learn chess and STEM skills at the same
time.

II-Solution overview
1.Introduction

Robotics and artificial intelligence are transforming industries

by enabling innovative solutions to complex problems. This
project integrates robotics, AI, and machine learning to
address challenges in automation, strategic gameplay, and
personalized education.

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By combining a ball-sorting robot, a chess-playing and
coaching robot, and a system for adaptive learning, this work
explores the synergy between human-machine interaction
and intelligent systems. The project emphasizes practical
applications of inverse kinematics, trajectory generation, AI-
driven decision-making, and machine learning-based
personalization, contributing to advancements in technology
and education.

2. Model enhancement

Model enhancement was a critical step in our project, as

we focused on refining the design and functionality of the
systems we developed. For the Chess Coach Robot, we
enhanced the construction by carefully selecting superior
materials to ensure durability and precision while
incorporating safety features to create a student-friendly
design. These changes improved both the reliability and
usability of the robot in educational settings.
In terms of energy optimization, we explored and
integrated renewable energy solutions, including the
innovative "Smart Sunflower" system, to intelligently
harvest energy and improve the robot’s sustainability. This
allowed us to align the system with modern energy
efficiency standards.

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For the AI-driven functionalities, we worked on optimizing
decision-making algorithms, ensuring faster and more
accurate move calculations. We also enhanced the robot's
ability to detect illegal moves and provide detailed
feedback, making the gameplay interaction seamless and
educational.
Additionally, we improved the learning models by refining
the data pipeline for processing chess game data. By
implementing robust classification models and analyzing
game patterns, we enhanced the system’s ability to offer
personalized learning experiences. These efforts enabled
the model to adapt to students' individual needs, making it
an effective tool for teaching strategy and tactics.

a.Energy optimization
Developed a power bank with a self-charging solar panel.
3350 mA capacity power bank with 6 lithium batteries.
Lithium batteries were chosen for their eco-friendliness,
safety, and long lifespan.

Solar energy rechargeable Low energy consumption

power bank componets

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 b.Materials
For the body of the robotic arm, we utilized ABS plastic due
to its strength, durability, and resistance to high
temperatures. These properties ensure that the robot can
withstand prolonged use in educational settings without
compromising safety. Additionally, ABS’s availability in
various colors and finishes allowed us to design an
aesthetically appealing robot, making it more engaging for
students.

c.Robotic hand mechanics

The robot is tasked with locating the chess pieces and
determining the trajectory to grab and sort the different
colors. This project required us to explore and implement
inverse kinematics, trajectory generation, and a robust
computer vision system.

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Calculating the inverse kinematics is a lot more complicated
because there might be multiple or even infinite solutions for
a single position. There might even be no solutions if the
position isn’t reachable. But ,the general idea is to use
trigonometry to calculate possible joint angles ,and then plug
those values back into the forward kinematics to see which
configurations actually work.
Since the given position has three coordinates (x, y, and z)
and there are four unknown joint angles, the angle α is also
provided to make the problem solvable where α is the angle
between the end-effector and the xy-plane

We created a URDF file defining the 4 degrees of freedom for

our robotic arm, including the links and joints. This file will be
used to simulate the arm's movements along the x, y, and z
axes, serving as a foundation for the next step: implementing
inverse kinematics.

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Next, we created an IPython Notebook using the Python
programming language in Jupyter Lab. This notebook serves
as the main file controlling the movement of the robotic arm.
The simulation defined in the URDF file acts as a chain in this
notebook. Any change in the variables x,y,z will compute the
required joint rotations, which correspond to the servo motors
in the functional prototype.

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 d.Camera integration

Camera Calibration:
The camera is calibrated to correct distortions and capture
accurate representations of the environment.
This step ensures the images used for analysis are
geometrically accurate.
Image Processing with the Model:
The calibrated camera captures images of the environment
or objects.

The model processes these images to extract essential

information (e.g., object positions, orientations).
Data Interpretation:
The processed image data is converted into actionable
insights, such as coordinates or movement vectors.
Robotic Arm Control:
The extracted information is sent to the robotic arm's
control system (its "brain").
The control system uses this data to decide how the
robotic arm should move or interact with the environment.

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 e.Chess API
System Components:
Stockfish Chess Engine: Calculates the optimal moves
based on the current game state.
python-chess Library: Manages the chessboard state, legal
moves, and interactions with Stockfish.
Robotic Arm: Physically moves the chess pieces based on
calculated moves.

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Workflow:
Move Calculation:
Stockfish, accessed via UCI and python-chess, analyzes the
board to determine the best move.
Evaluates factors like material balance, piece activity, and
threats.
Chessboard Management:
The chess.Board() class tracks the positions, turn order, and
special conditions (e.g., checkmate).
The board state updates after each move.
Move Validation:
The system generates and checks legal moves using
python-chess.
Illegal moves (e.g., placing the king in check) are
automatically rejected.
Game Rules Enforcement:
Ensures all moves follow chess rules.
Prevents illegal moves like invalid piece movement or
moves putting the king in check.
Endgame Monitoring:
Detects checkmate, stalemate, and draw using methods
like board.is_checkmate() and board.is_stalemate().
Halts the system when the game ends and declares the
outcome.
Physical Execution:
The robotic arm translates Stockfish’s optimal moves into
physical actions to move the pieces on the chessboard.

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3. Learning Outcomes
a. Pedagogical Approaches
Concrete Experience:
The kids interact with the chessboard, physically
moving pieces, and observing gameplay, potentially
aided by the robotic arm for demonstrations.
Reflective Observation:
They analyze their moves and outcomes, considering
why certain strategies worked or failed, and reflecting
on patterns in gameplay.
Abstract Conceptualization:
They connect their observations to broader chess
concepts (e.g., openings, tactics, endgames),
integrating these ideas into their understanding of the
game.
Active Experimentation:
The kids apply their new strategies in gameplay, testing
hypotheses and refining their skills based on feedback
from their moves and the robotic arm's responses.

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 Socratic Method
Socratic Method is a pedagogical approach based on inquiry
where the trainer and the leaders are both responsible for
moving the discussion and dialogue forward through
questioning. Much like the philosopher Socrates, the trainer
does not pose as an “authority figure” to fill the brain of the
leaders with knowledge. He/she/they are much like facilitators
and guide through the process. Trainers must have a keen eye
to pose questions that would spark conversations and create
an atmosphere where students would feel comfortable
sharing and engaging into discussions.

a. Communication
The mobile application is a user-friendly platform designed to
facilitate communication and learning for kids playing chess.
Developed using the Flutter framework, it ensures
compatibility across multiple devices, offering a consistent and
smooth user experience. The app features an intuitive and
playful interface tailored to engage children and make chess
learning enjoyable.

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With Firebase as the backend, the application provides real-
time interaction capabilities, secure user authentication, and
reliable data storage. This allows kids to seamlessly connect,
track their progress, and interact with the robotic arm or other
features of the chess teaching system.

III-Prototype Overview
1.Architecture Design
The robot consists of a base (turning table), upper arm,
lower arm, and gripper, all designed for independent
movement with four degrees of freedom (DOF).
1. Base (Turning Table): Provides stability and allows for
rotational movement around a vertical axis, enabling
the robot to turn and change direction.
2. lower Arm: Attached to the base, it moves along a
horizontal plane to extend the robot’s reach.
3. Upper Arm: Connected to the lower arm, it moves in
specific directions to position the gripper accurately.
4. Gripper: Located at the end of the upper arm, it enables
the robot to grasp, hold, or manipulate objects.
With four degrees of freedom, the robot can perform
complex motions, offering flexibility and precision for tasks
such as interacting with objects or playing chess.

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2.Components

Base arm

carte raspberry pi 4 carte raspberry pi 4

servo motor cables

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IV-Conclusion
This research explores the development of a cost-effective
4-degree-of-freedom robotic arm powered by renewable
energy to teach chess to children. Using inverse kinematics,
the design enables precise movements for chess piece
manipulation. The concept integrates sustainability and
affordability while promoting interactive learning. This
study highlights the potential for accessible, eco-friendly
robotics in education, laying the groundwork for future
innovations.