Atlas Humanoid Robot Control with Flexible Finite State Machines for Playing Soccer

摘要

This work concerns Atlas robot autonomously com-pleting core soccer tasks in a static environment. A soccer ball is localized using robot 2D and 3D perception. The target kicking position is reached in a collision-free manner using robot locomotion and navigation capabilities. The ball is kicked thanks to leg manipulation motion planning. Additionally, FlexBE is used to implement a user in the loop state machine. Generic custom open-source states are used throughout the project and their functionality is tested. An overview of subject-relevant literature, techniques used and experiments performed are provided. We also discuss the system and environment-based limitations in the core project areas.