Motion Optimization of Humanoid Robot Soccer “Goalkeeper” Using Behavior Based Coordination

Accuracy and speed of movement is required for a goalkeeper robot in the Robocup soccer competition. Moreover, instability and robustness of goalkeeper robot is often a problem in itself that often arise especially if the robot is a humanoid robot. There are various methods on how to improve the performance of movement of humanoid robot have been actively studied. So now we propose how to optimize the movement of humanoid robot and research to this time is devoted to the movement of a humanoid robot goalkeeper by using behavior based coordination. In this paper, a stabilization algorithm is proposed using the balance condition of the robot, which is measured using accelerometer sensor during standing, walking, turning, getting up, etc. Then the information from the outside is obtained by using the other sensor that is webcam camera and also from this sensor the robot can decide and behave to respond the data information effectively. In order to generate the proper and fast reaction, so a behavior based algorithm is applied in finding the most effective movement when the robot responds some stimulus. The performance of the proposed algorithm is verified by walking, getting up and ball anticipating movement and this experiment is conducted on a 16DOFs humanoid robot, called EEPIS Fußball Robot IO (EFuRIO) 2 nd generation.