Design and implementation of a series of small-size humanoid robots for FIRA and RoboCup

Author

Ya-Fang Ho ; Ping-Huan Kuo ; Po-Chun Huang ; Li, Tzuu-Hseng S.

Author_Institution

Dept. of Electr. Eng., Nat. Cheng Kung Univ., Tainan, Taiwan

fYear

2013

fDate

May 31 2013-June 2 2013

Firstpage

92

Lastpage

97

Abstract

The design and implementation of a series of small-sized humanoid robots are proposed in this paper. The series includes three types of small-sized humanoid robots participating in AndroSot and HuroCup tournaments in FIRA 2010 and in RoboCup Japan Open 2011. Firstly, the architecture of the system hardware and software, the design process are addressed in details. Then, the new features of the robots and important principles for designing a robot are addressed in details. Finally, the three types of the robots are discussed and compared with the previous generations. This series of robots won the 3rd place in AndroSot tournament, the 1st place in HuroCup tournament in FIRA 2010, and the 2nd place in the KidSize Humanoid League in RoboCup Japan Open 2011.

Keywords

humanoid robots; mobile robots; multi-robot systems; AndroSot tournaments; FIRA 2010; HuroCup tournaments; KidSize Humanoid League; RoboCup Japan Open 2011; small-sized humanoid robot implementation; Actuators; Axles; Design automation; Humanoid robots; Laboratories; Legged locomotion; FIRA humanoid robot; RoboCup;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics and Intelligent Systems (ARIS), 2013 International Conference on

Conference_Location

Tainan

Print_ISBN

978-1-4799-0100-5

Type

conf

DOI

10.1109/ARIS.2013.6573541

Filename

6573541