The Development of a Lightweight Autonomous Humanoid Robot Soccer Tteam

Abstract

This paper describes the development of two one-meter tall humanoid robots that are lightweight and robust. Two robots were developed for participating in the 2-2 soccer match at the RoboCup Teen-size humanoid competition. These robots can perform different motions such as walking, turning, kicking, getting up and blocking the ball. Both robots were designed to be as lightweight as possible in order to minimize damages during falling and to reduce the load during standing up. Both robots are fully autonomous and are programmed to have different roles: striker and goalie. The role-based behavior allows these robots to perform different specialized tasks within the team.