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Versatile, high-quality motions and behavior control of humanoid soccer robots

Friedmann, Martin ; Kiener, Jutta ; Petters, Sebastian ; Sakamoto, H. ; Thomas, D. ; Stryk, Oskar von (2006)
Versatile, high-quality motions and behavior control of humanoid soccer robots.
Workshop on Humanoid Soccer Robots of the 2006 IEEE-RAS Int. Conf. on Humanoid Robots. Genoa, Italy
Konferenzveröffentlichung, Bibliographie

Kurzbeschreibung (Abstract)

Many different and high-quality humanoid otions have been developed based on a tailored, 55cm tall humanoid robot kinematics and design using 21 servo motors and inertial sensors for stabilization. These include fast forward walking of about 1.5 km/h in permanent operation, multidirectional walking capabilities, a variety of standard and spectacular kicks, standing up motions as well as motions displaying an emotional state of the robot. While all robot motions are executed in real-time on a controller board an adaptive selection of different motions and autonomous robot behavior are controlled by hierarchical state machine executed on an onboard Pocket PC. Information about the current state of the dynamic environment in a soccer game is obtained from two directed cameras with wide and narrow angles. During RoboCup 2006 the robot demonstrated the fastest walking of all kid- and teen-size humanoid robots on regular terrain as well as in the rough terrain challenge. Also a large variety of different motions as well as individual and team behaviors during successful autonomous soccer games have been demonstrated including the scoring of a goal with the first autonomously performed backheel kick of a humanoid robot.

Typ des Eintrags: Konferenzveröffentlichung
Erschienen: 2006
Autor(en): Friedmann, Martin ; Kiener, Jutta ; Petters, Sebastian ; Sakamoto, H. ; Thomas, D. ; Stryk, Oskar von
Art des Eintrags: Bibliographie
Titel: Versatile, high-quality motions and behavior control of humanoid soccer robots
Sprache: Englisch
Publikationsjahr: Dezember 2006
Ort: Genoa, Italy
Veranstaltungstitel: Workshop on Humanoid Soccer Robots of the 2006 IEEE-RAS Int. Conf. on Humanoid Robots
Veranstaltungsort: Genoa, Italy
URL / URN: http://www.dei.unipd.it/~emg/whs2006/schedule.html
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Kurzbeschreibung (Abstract):

Many different and high-quality humanoid otions have been developed based on a tailored, 55cm tall humanoid robot kinematics and design using 21 servo motors and inertial sensors for stabilization. These include fast forward walking of about 1.5 km/h in permanent operation, multidirectional walking capabilities, a variety of standard and spectacular kicks, standing up motions as well as motions displaying an emotional state of the robot. While all robot motions are executed in real-time on a controller board an adaptive selection of different motions and autonomous robot behavior are controlled by hierarchical state machine executed on an onboard Pocket PC. Information about the current state of the dynamic environment in a soccer game is obtained from two directed cameras with wide and narrow angles. During RoboCup 2006 the robot demonstrated the fastest walking of all kid- and teen-size humanoid robots on regular terrain as well as in the rough terrain challenge. Also a large variety of different motions as well as individual and team behaviors during successful autonomous soccer games have been demonstrated including the scoring of a goal with the first autonomously performed backheel kick of a humanoid robot.

Fachbereich(e)/-gebiet(e): 20 Fachbereich Informatik
20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik
Hinterlegungsdatum: 09 Jul 2019 09:58
Letzte Änderung: 09 Jul 2019 09:58
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