The RoboCup community has one definite goal [H. Kitano, M. Asada, RoboCup humanoid challenge: That’s one small step for a robot, one giant leap for mankind, in: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS1998, Victoria, pp. 419–424, 1998]: winning against the human world soccer champion team by the year 2050. This implies real tackles and fouls between humans and robots, rising ...

This document describes the RoboCup Humanoid League team NimbRo TeenSize of Rheinische Friedrich-Wilhelms-Universität Bonn, Germany, as required by the qualification procedure for the competition to be held in Graz in July 2009. Our team uses self-constructed robots for playing soccer. The paper describes the mechanical and electrical design of the robots. It also covers the software used for p...

This paper presents extensions and improvements of previous work, where we defined a CBR system for action selection in the robot soccer domain. We show empirical results obtained with real robots, comparing our team playing approach with an individualist approach.

This paper proposes a behavior‐switching control strategy of an evolutionary robot based on Artificial Neural Network (ANN) and genetic algorithm (GA). This method is able not only to construct the reinforcement learning models for autonomous robots and evolutionary robot modules that control behaviors and reinforcement learning environments, and but also to perf...

One of the most important case in humanoid robot designing is hand, which it consider as an country development. High percentage of robot work quality depend on hand capability. A robot function increase with hand movement. One of important movement in artificial hand capability relate to fingers lateral movement. This case has more effect intake of special objects such as round shape or moving...

This paper describes the hardware and software design of the two humanoid robot systems of the Darmstadt Dribblers. The robots are used as a vehicle for research in control of locomotion and behavior of humanoid robots with many degrees of freedom and many actuated joints. The Humanoid League of RoboCup provides an ideal testbed for such aspects of dynamics in motion and autonomous behavior as ...

Dynamically-balancing robots have recently been made available by Segway LLC, in the form of the Segway RMP (Robot Mobility Platform). We have addressed the challenge of using these RMP robots to play soccer, building up upon our extensive previous work in this multi-robot research domain. In this paper, we make three contributions. First, we present a new domain, called Segway Soccer, for inve...

Small humanoid robots available today often lack computing power and vision sensors. They frequently consist only of servos and microcontroller boards. We propose to use off-the-shelf handheld computers, Pocket PCs and ultra-portable PCs, to make them autonomous. These computers are lightweight, compact, robust, affordable, and have many interfaces. It is not hard to attach them to an existing ...

Humanoid robotics is coming of age with faster and more agile robots. To compliment the physical complexity of humanoid robots, the robotics algorithms being developed to derive their motion have also become progressively complex. The work in this thesis spans across two research fields, human neuroscience and humanoid robotics, and brings some ideas from the former to aid the latter. By explor...

The reinforcement framework is a principled approach for agents learning to act in an environment. In the long run, reinforcement learning finds optimal policies. However, a physical agent, such as a humanoid robot, acting in the real world can perform only a limited number of trails, and consequently has only access to limited experience. With such limitations, the exhaustive exploration of hi...