Versatile, High-Quality Motions and Behavior Control of a Humanoid Soccer Robot

Friedmann, Martin; Kiener, Jutta; Petters, Sebastian; Thomas, Dirk; Stryk, Oskar von; Sakamoto, Hajime

doi:10.1142/s0219843608001509

Cited by 27 publications

(20 citation statements)

References 16 publications

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“…To enable fast and stable bipedal walking motions a careful overall lightweight design of the robot including all payload had to be made. For further information about the humanoid robot Bruno, model 2006-2007, the reader is refered to [9].…”

Section: Heterogeneous Robots Used In the Case Studymentioning

confidence: 99%

“…The majority of research in robot teams considers homogeneous robots, most of them based on wheeled locomotion. The investigated tasks differ in the complexity of structure and cooperation, starting from basic tasks as foraging [12] or exploration of an area without a specific cooperation [25] up to problems with high communication and synchronization demands, e.g., cooperative box pushing [18] or cooperative surveillance of an area [2,14] or soccer playing [9,35,36]. A classification of different stages of cooperation is given in [8].…”

Section: Introductionmentioning

confidence: 99%

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Towards cooperation of heterogeneous, autonomous robots: A case study of humanoid and wheeled robots

Kiener

Stryk

2010

Robotics and Autonomous Systems

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In this paper a case study of cooperation of a strongly heterogeneous autonomous robot team, composed of a highly articulated humanoid robot and a wheeled robot with largely complementing and some redundant abilities is presented. By combining strongly heterogeneous robots the diversity of achievable tasks increases as the variety of sensing and motion abilities of the robot system is extended compared to a usually considered team of homogeneous robots. A number of methodologies and technologies required to achieve the long-term goal of cooperation of heterogeneous autonomous robots are discussed including modeling tasks and robot abilities, task assignment and redistribution, robot behavior modeling and programming, robot middleware and robot simulation. Example solutions and their application to the cooperation of autonomous wheeled and humanoid robots are presented in this case study. The scenario describes a tightly coupled cooperative task, where the humanoid robot and the wheeled robot track a moving ball, which is to be approached and kicked by the humanoid robot into a goal. The task can be fulfilled successfully by combining the abilities of both robots.

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Section: Heterogeneous Robots Used In the Case Studymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Towards cooperation of heterogeneous, autonomous robots: A case study of humanoid and wheeled robots

Kiener

Stryk

2010

Robotics and Autonomous Systems

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“…This leads to a more realistic simulation of the robot's motions, as effects like balancing can be displayed. In combination with a simulation of inertial sensors this property can be used for testing stabilization algorithms like the one presented in [27].…”

Section: Full Dynamics Simulationmentioning

confidence: 99%

Adequate motion simulation and collision detection for soccer playing humanoid robots

Friedmann

Petersen

Stryk

2009

Robotics and Autonomous Systems

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Abstract-In this paper a humanoid robot simulator built with the Multi-Robot-Simulation-Framework (MuRoSimF) is presented. Among the unique features of the this simulator is the scalability in the level of physical detail in both the robot's motion and sensing systems. It facilitates the development of control software for humanoid robots which is demonstrated for several scenarios from the RoboCup Humanoid Robot League.Different requirements exist for a humanoid robot simulator. E.g., testing of algorithms for motion control and postural stability require high fidelity of physical motion properties where as testing of behavior control and role distribution for a robot team requires only a moderate level of detail for real-time simulation of multiple robots. To meet such very different requirements often different simulators are used which makes it neccessary to model a robot multiple times and to integrate different simulations with high-level robot control software.MuRoSimF provides the capability of exchanging the simulation algorithms used for each robot transparently, thus allowing a trade-off between computational performance and fidelity of the simulation. It is therfore possible to choose different simulation algorithms which are adequate for the needs of a given simulation experiment, for example, motion simulation of humanoid robots based on kinematical, simplified dynamics or full multibody system dynamics algorithms.In this paper the sensor simulation capabilities of MuRoSimF are revised and the algorithms for motion simulation and collision detection and handling are presented in detail. An algorithm is presented which allows the real time simulation of the full dynamics of a 21 DOF humanoid robot. Special consideration is given to the merits and drawbacks of the different algorithms depending on the scenario. The simulation's performance is measured and comparisons with the experimental performance of the humanoid robots are given.

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“…[21]) incorporate special controller hardware for real time control of a reflex layer (e.g. gait generation and control for walking robots or motion control for wheeled vehicles).…”

Section: Integration Of Simulation and Control Softwarementioning

confidence: 99%

Multilevel Testing of Control Software for Teams of Autonomous Mobile Robots

Petters

Thomas

Friedmann

et al. 2008

Simulation, Modeling, and Programming for Autonomous Robots

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Abstract. Developing control software for teams of autonomous mobile robots is a challenging task, which can be facilitated using frameworks with ready to use components. But testing and debugging the resulting system as teached in modern software engineering to be free of errors and tolerant to sensor noise in a real world scenario is to a large extend beyond the scope of current approaches. In this paper multilevel testing strategies using the developed frameworks RoboFrame and MuRoSimF are presented. Testing incorporating automated tests, online and offline analysis and software-in-the-loop (SIL) tests in combination with real robot hardware or an adequate simulation are highly facilitated by the two frameworks. Thus the efficiency of validation of complex real world applications is improved. In this way potential errors can be identified early in the development process and error situations in real world operations can be reduced significantly.

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Versatile, High-Quality Motions and Behavior Control of a Humanoid Soccer Robot

Cited by 27 publications

References 16 publications

Towards cooperation of heterogeneous, autonomous robots: A case study of humanoid and wheeled robots

Towards cooperation of heterogeneous, autonomous robots: A case study of humanoid and wheeled robots

Adequate motion simulation and collision detection for soccer playing humanoid robots

Multilevel Testing of Control Software for Teams of Autonomous Mobile Robots

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