A Modular Architecture for Humanoid Soccer Robots With Distributed Behavior Control

Abstract

This paper presents an embedded control architecture constructed for Robo-Erectus, a soccer-playing humanoid robot developed at the Advanced Robotics and Intelligent Control Centre of Singapore Polytechnic. The Robo-Erectus team has participated in the KidSize category of RoboCup's Humanoid League since 2002, collecting different awards. The latest version of Robo-Erectus has many capabilities that can be exploited to improve the robot's behavior. The new embedded controller has made possible the first stage of the performance (displayed during RoboCup 2007), including network communication, mapping, and localization. The new mechanical, electronic design, embedded control architecture, and control schemes are described in this paper. In addition to the hardware, the paper presents details of the modules for gait generation, vision, behavior control, and communication.

Humanoid social robots: A design for interaction

“…The robot hardware presented in the previous Sections, uses an embedded control architecture similar to one described in [8]. Each robot has two Fit-PCs based on AMD G-Series APU as their main two processors.…”

Distributed Architecture for Dynamic Role Behaviour in Humanoid Soccer Robots

“…Thus, fixed roles are not the best approach, even though it is possible to display some level of cooperative behaviour, the system lacks the flexibility to adapt to unforeseen situations. A solution to the fixed roles of the robots is to allow a flexible change of strategies and roles of the robots in a soccer game, according to the game time and goal difference (Acosta et al, 2008). The robot's area of coverage may be limited according to their current roles.…”

“…Instead of using a single processor to deal with sensory data, processing and actuators control, Robo-Erectus uses dedicated processors for particular tasks. This design was implemented firstly in the Robo-Erectus Junior-AX and it has proven to improve the performance of the system (Acosta et al, 2008). Below are listed the tasks of each processor:…”

Speed Control of Jansen Linkage Mechanism for Exquisite Tasks

“…Legged robots have dependably been a famous decision for roboticians due to their prevalence over conventional wheeled or followed automated stages on applications including mobility over harsh territories [1,2,3]. Bartsch et al in [4] introduced their endeavours in building up a six-legged, bioinspired, and vitality effective robot (SpaceClimber 1) for extraterrestrial surface investigation, especially for portability in lunar pits.…”