A soccer playing humanoid robot: Design, algorithm and prototype

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.