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

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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.

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Keywords: robot; humanoid; soccer; autonomous; ball detection

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Language : EN
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