A vision-based humanoid soccer robot is designed and implemented for the marathon competition. The marathon is one of competitions in HuroSot League of FIRA RoboWorld Cup 2008. The humanoid soccer robot with 26 DOF (degrees of freedom) is design to accomplish the human-like walking motion. The system of humanoid soccer robot contains two processors: .mu.'nsp and NIOS. .mu.'nsp is a 16-bit DSP processor which is used to process image information and decide strategy. NIOS is a 32-bit embedded soft-core processor which is used to control the motion of actuators and receive the data of the other sensors such as electronic compass, force sensor, and accelerometer. A CMOS image sensor installed on the humanoid soccer robot is used to recognize the direction of the line on the ground. Based on the obtained line information, a strategy is proposed to let the humanoid soccer robot can walk following the line. From the practical test results, we can see that the implemented humanoid soccer robot can accomplish the competition of marathon.
Proceedings of the 2008 CACS International Automatic Control Conference，5頁