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Motion Optimization of Humanoid Robot Soccer “Goalkeeper” Using Behavior Based Coordination

Rusian, Fahrisal and Sulistijono, Indra Adji (2011) Motion Optimization of Humanoid Robot Soccer “Goalkeeper” Using Behavior Based Coordination. EEPIS Final Project.

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    Accuracy and speed of movement is required for a goalkeeper robot in the Robocup soccer competition. Moreover, instability and robustness of goalkeeper robot is often a problem in itself that often arise especially if the robot is a humanoid robot. There are various methods on how to improve the performance of movement of humanoid robot have been actively studied. So now we propose how to optimize the movement of humanoid robot and research to this time is devoted to the movement of a humanoid robot goalkeeper by using behavior based coordination. In this paper, a stabilization algorithm is proposed using the balance condition of the robot, which is measured using accelerometer sensor during standing, walking, turning, getting up, etc. Then the information from the outside is obtained by using the other sensor that is webcam camera and also from this sensor the robot can decide and behave to respond the data information effectively. In order to generate the proper and fast reaction, so a behavior based algorithm is applied in finding the most effective movement when the robot responds some stimulus. The performance of the proposed algorithm is verified by walking, getting up and ball anticipating movement and this experiment is conducted on a 16-DOFs humanoid robot, called EEPIS Fußball Robot IO (EFuRIO) 2nd generation.

    Item Type: Article
    Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
    Q Science > QA Mathematics > QA76 Computer software
    Divisions: Faculty of Engineering, Science and Mathematics > School of Electronics and Computer Science
    Depositing User: mr. Fahrisal Rusian
    Date Deposited: 08 Aug 2011 16:02
    Last Modified: 08 Aug 2011 16:02

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