A soccer playing humanoid robot: Design, algorithm and prototype

Author

Mohammadi, Soheil ; Talebi, H.A. ; Soleimani, M.A. ; Mirsalim, Mojtaba ; Asgari, Shadnaz

Author_Institution

Dept. of Electr. Eng., Amirkabir Univ. of Technol. (Tehran Polytech.), Tehran, Iran

fYear

2014

fDate

15-17 Oct. 2014

Firstpage

642

Lastpage

647

Abstract

Humanoid robots play an important role in the future life. The main contribution of this paper is to design and prototype a humanoid robot that is going to be employed in the study of such systems as well as robotics competitions. Eighteen servomotors are utilized as the actuators. A camera sensor is used to get visual feedback. An accelerometer sensor is utilized to determine the physical state of the robot. The employed processors are an AVR ATMEGA32 on which the main algorithm including the image processing and control system is loaded, and an auxiliary AVR ATMEGA128 for simplifying the communications with the servomotors. Moreover, close to 60 independent and combined movements are built that are used in different positions. Five software are also employed in the investigation. Finally, the robot is fabricated whose results are demonstrated.

Keywords

accelerometers; cameras; feedback; humanoid robots; image processing; legged locomotion; multi-robot systems; path planning; robot vision; servomotors; AVR ATMEGA128; AVR ATMEGA32; accelerometer sensor; actuators; camera sensor; image processing; servomotors; soccer playing humanoid robot; visual feedback; Accelerometers; Actuators; Microcontrollers; Program processors; Robot kinematics; Servomotors; Humanoid robot; algorithm; fabricating; flowchart; soccer playing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Mechatronics (ICRoM), 2014 Second RSI/ISM International Conference on

Conference_Location

Tehran

Type

conf

DOI

10.1109/ICRoM.2014.6990975

Filename

6990975