Humanoid Soccer Robot: TWNHR-IV

نویسندگان

  • Ching-Chang Wong
  • Chi-Tai Cheng
  • Kai-Hsiang Huang
  • Yu-Ting Yang
  • Yueh-Yang Hu
  • Hsiang-Min Chan
  • Hao-Che Chen
چکیده

A humanoid soccer robot named TWNHR-IV and designed by the TKU team to attend the HuroSot League of FIRA RoboWorld Cup is presented. A platform for the study of biped walking control is designed and implemented. A system architecture for TWNHR-IV is presented, where a CMOS sensor, a digital compass, an accelerometer, and eight pressure sensors are used to obtain the information of the environment. In order to design the robot locomotion control, a human-machine interface is implemented to study and design the locomotion control of biped robot. Two practical experiment results are presented to illustrate that TWNHRIV can be a soccer robot to autonomously decide some actions to stand up from a fall, find a ball, walk to an appropriate position, and kick a ball.

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تاریخ انتشار 2008