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Mechanical construction of the Robots
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This document describes hardware and software of the robots developed by the "FUmanoid" Team for the RoboCup competitions to be held in Suzhou, China 2008. The mechanical structure of the robots is an improved Bioloid construction kit, which is available for research and competition. Servo motors of the lower part of the body are replaced with Dyna...
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Citations
... The exciting game ended 8:6 for NimbRo after extra time. Our robots met the FUmanoids [15] from Berlin, Germany in the semi-final. NimbRo won the game 11:0. ...
Humanoid soccer serves as benchmark problem for artificial intelligence research and robotics. Every year, more teams are competing, e.g., in the RoboCup Humanoid league. As the robots manage the basic skills of walking, kicking, and getting up better, teams can focus on soccer skills and team coordination. The complexity of soccer behaviors and team play calls for structured behavior engineering. In this paper, we describe the design of the behavior control software for the Humanoid League team NimbRo. The control software is based on a framework that supports a hierarchy of reactive behaviors. It is structured both as an agent hierarchy (joint - body part - player - team) and as a time hierarchy. The speed of sensors, behaviors, and actuators decreases when moving up in the hierarchy. The lowest levels of this framework contain position control of individual joints and kinematic interfaces for body parts. At the next level, basic skills are implemented. These are used by soccer behaviors like searching for the ball, approaching the ball, avoiding obstacles, and defending the goal. Finally, on the tactical level, the robots communicate via a wireless network to negotiate roles and use allocentric information to configure the soccer behaviors. Our robots won all humanoid soccer competitions of RoboCup 2007, which took place in Atlanta, GA.
