The development of optimized motions of humanoid robots that guarantee a fast and also stable walking is an important task especially in the context of autonomous soccer playing robots in RoboCup. We present a walking motion optimization approach for the humanoid robot prototype HR18 which is equipped with a low dimensional parameterized walking trajectory generator, joint motor controller and ...

Recently, interest in analysis and generation of human and human-like motion has increased in various areas. In robotics, in order to operate a humanoid robot, it is necessary to generate motions that have strictly dynamic consistency. Furthermore, human-like motion for robots will bring advantages such as energy optimization. This paper presents a mechanism to generate two human-like motions, ...

This paper describes the humanoid robot Toni that has been designed to play soccer in the RoboCup Humanoid League. The paper details Toni’s mechanical and electrical design, perception, self localization, behavior control, and infrastructure. Toni is fully autonomous, has a low weight (2.2kg), and is much taller (74cm) than most servo-driven humanoid robots. It has a wide field of view camera, ...

Many RoboCuppers share a dream: a team of fully autonomous humanoid robot soccer players that is capable of playing soccer games against human players by 2050. The demonstration of a human versus robot soccer game at RoboCup 2007 was an exciting display of the progress that has been in RoboCup community since 1997 in terms of the robot’s autonomy, sensing ability, and physical features. This ga...

Due to limited availability of humanoid robots and the high costs involved, multi-agent experiments with humanoid robots have been at least difficult so far. With the introduction of RoboSapien, a low-cost humanoid robot developed for the toy market, this situation has changed. This paper describes how we augmented multiple RoboSapiens to obtain a team of soccer playing humanoid robots. We adde...

This document describes the RoboCup Humanoid League team NimbRo of University of Freiburg in preparation for the competition to be held in Osaka in July 2005. Our team uses a variety of robots for playing soccer: RoboSapien, Kondo, Toni, and Fritz. These robots are either constructed in our lab, based on a construction kit, or based on a low-cost commercial robot. The paper describes the robot ...

In Robocup, The most important sensor on humanoid robot soccer is a camera. The camera serves as the eyes of the robot as well as in humans. This camera is used by the robot to detect the ball. The task of Humanoid Robot Soccer as a Goalkeeper is to keep the goal and must be able to block a ball that came directly to the goal from many directions so the ball is not got into the goal. As already...

A real-time hybrid control architecture for biped humanoid robots is proposed. The architecture is modular and hierarchical. The main robot’s functionalities are organized in four parallel modules: perception, actuation, world-modeling, and hybrid control. Hybrid control is divided in three behavior-based hierarchical layers: the planning layer, the deliberative layer, and the reactive layer, w...

This paper proposes a new algorithm for the automatic segmentation of motion data from a humanoid soccer playing robot that allows feedforward neural networks to generalize and reproduce various kinematic patterns, including walking, turning, and sidestepping. Data from a 20 degree-of-freedom Fujitsu HOAP-1 robot is reduced to its intrinsic dimensionality, as determined by the ISOMAP procedure,...

In this paper, a new biped robot soccer game platform was proposed. The platform is based on biped humanoid robot, it combined the research of robot control, wireless communication, machine vision, which make the humanoid robot game possible. Based on this platform, one can develop more advanced humanoid robot.