DOI: https://doi.org/10.14710/teknik.v39i3.22916

The Development of Autonomous Humanoid Soccer Robot

Pengembangan Robot Humanoid Pemain Bola Otonom

*Hadha Afrisal scopus  -  Departemen Teknik Elektro, Fakultas Teknik, Universitas Diponegoro, Indonesia
Munadi Munadi  -  Departemen Teknik Mesin, Fakultas Teknik, Universitas Diponegoro, Indonesia
Muhammad Faris  -  Departemen Teknik Elektro dan Teknologi Informasi, Universitas Gadjah Mada, Indonesia
Bakhtiar Alldino Ardi Sumbodo  -  Departemen Ilmu Komputer dan Elektronika, Universitas Gadjah Mada, Indonesia
Open Access Copyright (c) 2019 TEKNIK

Citation Format:
Abstract

This research aims to develop an autonomous humanoid soccer robot. The humanoid soccer robot is designed using 20 joints which are equipped with dynamixel servo motor AX-12 (upper body) and RX-24 (lower body) and is controlled by using servo controller board CM-700 (ATMega2561). The humanoid soccer robot is 44 cm in height and is equipped with a balancing system of using gyro sensor LPR530 and accelerometer KXM52-1050. In order to detect object and to navigate autonomously, the humanoid soccer robot is equipped with a CMOS camera which is controlled using CMUCAM board (LPC2016). The experiment shows that the humanoid soccer robot has ability to walk with average speed of 14.37 cm/second and is able to achieve a top speed of up to 20 cm/second. The developed humanoid soccer robot can play soccer autonomously: to locate the ball, to detect the goalpost, and to score the goal to the goalpost.

Fulltext View|Download
Keywords: robot; humanoid; soccer; autonomous; ball detection

Article Metrics:

Article Info
Section: Artikel
Language : EN
Recent articles
Effect of heat treatment on micro structure, hardness, high temperature oxidation resistance of martensitic stainless steel 13Cr3Mo3Ni-cast Enhancing The Rate of Process and The Quality of Rice Bran Oil Through The Ultrasonic- Assisted Extraction Application of Interpretation of Roger’s Ratio, Duval’s Triangle Methods, Breakdown Test, Water Content Test for Feasibility Transformer Oil Diagnostic Back matter Front matter More recent articles
Most cited articles
Analisis Desain Sistem Pembangkit Listrik Tenaga Surya Kapasitas 50 WP FAKTOR - FAKTOR PENYEBAB MUNCULNYA ACTIVITY SUPPORT DI KAWASAN RUANG PUBLIK BUNDARAN HOTEL INDONESIA JAKARTA PUSAT PROSPEK INDUSTRI GALANGAN KAPAL DALAM NEGERI GUNA MENGHADAPI PERSAINGAN GLOBAL PERALIHAN MATA PENCAHARIAN SEBAGAI BENTUK ADAPTASI (Studi Kasus: Desa Batu Belubang, Bangka) Penentuan Skala Prioritas Penanganan Jalan Kabupaten di Kabupaten Kudus Dengan Metode Analytical Hierarchy Process More cited articles
  1. Antonello, R., & Oboe, R. (2011). MEMS gyroscopes for consumers and industrial applications. In Microsensors. IntechOpen
  2. Apostol, T. M., & Mnatsakanian, M. A. (2000). Finding centroids the easy way. Math Horizons, 8, 7-12
  3. Bliley, K. E., Schwab, D. J., Holmes, D. R., Kane, P. H., Levine, J. A., Daniel, E. S., & Gilbert, B. K. (2006). Design of a compact system using a MEMS accelerometer to measure body posture and ambulation. 19th IEEE Symposium on Computer-Based Medical Systems (CBMS'06), (pp. 335-340)
  4. Burkhard, H.-D., Duhaut, D., Fujita, M., Lima, P., Murphy, R., & Rojas, R. (2002). The road to RoboCup 2050. IEEE Robotics & Automation Magazine, 9, 31-38
  5. Farazi, H., Allgeuer, P., & Behnke, S. (2018). A monocular vision system for playing soccer in low color information environments. arXiv preprint arXiv:1809.11078
  6. Gerndt, R., Seifert, D., Baltes, J. H., Sadeghnejad, S., & Behnke, S. (2015). Humanoid robots in soccer: Robots versus humans in RoboCup 2050. IEEE Robotics & Automation Magazine, 22, 147-154
  7. Ismael, O. Y., & Hedley, J. (2016). Development of an Omnidirectional Mobile Robot Using Embedded Color Vision System for Ball Following. American Scientific Research Journal for Engineering, Technology, and Sciences (ASRJETS), 22, 231-242
  8. Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., & Hirukawa, H. (2003). Biped walking pattern generation by using preview control of zero-moment point. 2003 IEEE International Conference on Robotics and Automation (Cat. No. 03CH37422), 2, pp. 1620-1626
  9. Kim, K.-I., Son, Y. I., & Kim, P. B. (2004). Construction of small humanoids with a new joint actuator module. IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA'04. 2004, 5, pp. 4510-4514
  10. Mobalegh, H. (2012). Development of an autonomous humanoid robot team. Ph.D. dissertation
  11. Peng, S., Shui, H., Li, G., & Ma, H. (2010). Walking gait planning of humanoid soccer robot based on the desired ZMP trajectories. 2010 The 2nd International Conference on Industrial Mechatronics and Automation, 2, pp. 127-131
  12. Rowe, A., Goode, A., Goel, D., & Nourbakhsh, I. (2007). CMUcam3: An open programmable embedded vision sensor. International conferences on intelligent robots and systems
  13. Smith, A. R. (1978). Color gamut transform pairs. ACM Siggraph Computer Graphics, 12, 12-19
  14. Stephon, A. C., & Khorbotly, S. (2012). A camera-based target tracking system for football playing robots. Proceedings of the 2012 44th Southeastern Symposium on System Theory (SSST), (pp. 164-167)
  15. Thai, C. N. (2017). ROBOTIS_Robot Systems. In Exploring Robotics with ROBOTIS Systems (pp. 5-21). Springer

Last update:

No citation recorded.

Last update: 2024-11-13 03:25:13

No citation recorded.