Scholarlink

Through the course of RoboCup 2024 our team scored 45 goals over 6 seated matches and, ultimately, unseated the longstanding reigning champions in our division with a victory of 6 goals to 1. In this paper we will focus on hardware, vision, and high-level decision making while briefly touching upon others. Our humanoid robot named Artemis is around 1.4 m tall, weighing over 35 kg. Artemis is designed to be lightweight featuring quasi-direct drive actuators with motor housings which serve as drive inputs to the next motor at the hips to save weight. For the tournament the foot was redesigned to allow for increased kicking accuracy, contact rate, and durability when stepped on. For vision we introduce several practical filters and an additional component termed proximity to address potential failure cases when an opponent or obstacle is very near. Finally, we discuss the strategies and overall planning architecture used during the tournament for high level decision making.

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

RoboCup 2024 Adult-Sized Humanoid Champions Guide for Hardware, Vision, and Strategy

  • 会议论文

  • 发表日期：

    2025年

查看全文
  • Gabriel I. Fernandez,
  • Yeting Liu,
  • Colin Togashi,
  • Kyle Gillespie,
  • Alvin Zhu,
  • Quanyou Wang,
  • Yicheng Wang,
  • Hyunwoo Nam,
  • Shiqi Wang,
  • Ruochen Hou,
  • Mingzhang Zhu,
  • Aditya Navghare,
  • Alex Xu,
  • Taoyuanmin Zhu,
  • Min Sung Ahn,
  • Arturo Flores Alvarez,
  • Justin Quan,
  • Ethan Hong,
  • Dennis W. Hong

摘要

Through the course of RoboCup 2024 our team scored 45 goals over 6 seated matches and, ultimately, unseated the longstanding reigning champions in our division with a victory of 6 goals to 1. In this paper we will focus on hardware, vision, and high-level decision making while briefly touching upon others. Our humanoid robot named Artemis is around 1.4 m tall, weighing over 35 kg. Artemis is designed to be lightweight featuring quasi-direct drive actuators with motor housings which serve as drive inputs to the next motor at the hips to save weight. For the tournament the foot was redesigned to allow for increased kicking accuracy, contact rate, and durability when stepped on. For vision we introduce several practical filters and an additional component termed proximity to address potential failure cases when an opponent or obstacle is very near. Finally, we discuss the strategies and overall planning architecture used during the tournament for high level decision making.