FUmanoid Team Description Paper 2010

摘要

This document gives an overview about a new hard- and soft- ware design of a humanoid robot which was developed for RoboCup 2009 in Graz. For upcoming RoboCup competitions in 2010 the FUmanoids participate with an improved system based on last years achieved re- sults. The mechanical structure of the robot is a self made construction with a total height of 59cm, including 21 actuated degrees of freedom based on Dynamixel RX28, and RX64 servos. Central Processing, includ- ing Machine vision, Planning and control is performed using a Gumstix Overo which is an ARM based 600MHz platform. Planning algorithms are organized in a new structure called Concurrent Scenario based Plan- ning (CSBP). This paper explains the software and hardware used for the robot as well as control and stabilization methods developed by our team.