TY - GEN
T1 - Skill-oriented humanoid robot developments for autonomous robot competitions
AU - Chou, Hung Chyun
AU - Chung, Jui Chou
AU - Kuo, Chung Hsien
AU - Chou, Bo Yi
PY - 2011
Y1 - 2011
N2 - In this paper, a kid size humanoid robot, HuroEvolution, is presented. The HuroEvolution is developed for two autonomous robot competitions of RoboCup 2010 and FIRA 2010. In order to perform various competition functions, the robot structure, sensor modules, control systems and software programs are designed to meet the competition requirements of participated games. In addition to the brief introductions of the mechanical structure, sensor modules and control system, this paper focuses on the illustrations of autonomy for various skill-oriented functions. Our solutions are developed based on autonomous sensing and decision approaches. The autonomous sensing approach is realized in terms of typical sensor fusion techniques, which combine the information collected from a web camera and a 3-axis magneto-resistive sensor. The fused sensor information is further used for skill-oriented autonomous decision systems which are responsible of navigations and task executions. Currently, the HuroEvolution is capable of playing the games of soccer, weightlifting, obstacle run, sprint, marathon and basketball. Finally, the proposed skill-oriented functions were verified in the RoboCup 2010 and FIRA 2010 competitions.
AB - In this paper, a kid size humanoid robot, HuroEvolution, is presented. The HuroEvolution is developed for two autonomous robot competitions of RoboCup 2010 and FIRA 2010. In order to perform various competition functions, the robot structure, sensor modules, control systems and software programs are designed to meet the competition requirements of participated games. In addition to the brief introductions of the mechanical structure, sensor modules and control system, this paper focuses on the illustrations of autonomy for various skill-oriented functions. Our solutions are developed based on autonomous sensing and decision approaches. The autonomous sensing approach is realized in terms of typical sensor fusion techniques, which combine the information collected from a web camera and a 3-axis magneto-resistive sensor. The fused sensor information is further used for skill-oriented autonomous decision systems which are responsible of navigations and task executions. Currently, the HuroEvolution is capable of playing the games of soccer, weightlifting, obstacle run, sprint, marathon and basketball. Finally, the proposed skill-oriented functions were verified in the RoboCup 2010 and FIRA 2010 competitions.
KW - autonomous robots
KW - hand-eye coordination
KW - humanoid robots
KW - obstacle avoidance
KW - sensor fusions
UR - http://www.scopus.com/inward/record.url?scp=80052402929&partnerID=8YFLogxK
U2 - 10.1109/WCICA.2011.5970753
DO - 10.1109/WCICA.2011.5970753
M3 - 会议稿件
AN - SCOPUS:80052402929
SN - 9781612847009
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 330
EP - 335
BT - WCICA 2011 - 2011 World Congress on Intelligent Control and Automation, Conference Digest
T2 - 2011 World Congress on Intelligent Control and Automation, WCICA 2011
Y2 - 21 June 2011 through 25 June 2011
ER -