Bioloid based Humanoid Soccer Robot Design
نویسندگان
چکیده
This paper presents an overview of a humanoid soccer robot, build out of readily available hardware. The system architecture is covered in detail thereby enabling the reader to build a starter system for entering bipedal, humanoid soccer competitions. The structure of motion-pages of a Bioloid robot is presented. A vision algorithm to detect goal posts, used for SelfLocalisation of the robot, is described. The robot’s performance in the FIRA WorldCup 2007 is analysed and some improvements suggested.
منابع مشابه
Humanoid Olympics Report
This report outlines the development of the control software used with the bioloid robots in the Humanoid Olympics subject. The Humanoid Olympics entails a competition between 2 teams, whereby both teams are provided with identical hardware of small ”bioloid” robots, and they must compete against each other in 3 events: running race, stair climbing and fighting. This software presented in this ...
متن کاملFlexible Foot/Ankle Based on PKM with Force/Torque Sensor for Humanoid Robot
This paper describes the development of a novel humanoid robot foot/ankle based on an orientation Parallel Kinematic Mechanism for intelligent and flexible control. With three identical Universal-Prismatic-Spherical prismatic-actuated limbs and a central Universal-Revolute passive limb, the PKM can perform three degrees of freedom rotation motions. In order to enable the humanoid robot safely t...
متن کاملHumanoid social robots in the rehabilitation of children with cerebral palsy
To increase the interest of a child in motor training we have tried to use a humanoid social robot that acts like a coach to encourage the patient. The humanoid robot "KineTron" was assembled from commercially available Bioloid Premium robotic kit. Nine movement scenarios of robot behaviour combined with voice and music were developed. During the training session, a therapist activates one of t...
متن کاملPSO-Based Path Planning Algorithm for Humanoid Robots Considering Safety
In this paper we introduce an improvement in the path planning algorithm for the humanoid soccer playing robot which uses Ferguson splines and PSO (Particle Swarm Optimization). The objective of the algorithm is to find a path through other playing robots to the ball, which should be as short as possible and also safe enough. Ferguson splines create preliminary paths using random generated para...
متن کاملAdaptive Walking Gait for Locomotion on Terrain with Non-uniform Slope
The autonomous locomotion of a legged robot presents several challenges, such as stability and sensitivity to the ground slope. Complex sensory systems, accurate physical models, and demanding computational resources are often required to maintain balance, that together with precise servo control leads to high energy consumption levels. This paper addresses the problem of controlling the locomo...
متن کامل