AcYut_HL-Teen_RC2018_TDP.pdf (528.1 KB)
Abstract
This paper describes the humanoid robots which we, Team
AcYut, plan to use for the RoboCup Humanoid Teen-size Soccer competition. AcYut uses Preview Control of the Zero Moment Point (ZMP) for
walking pattern generation with a closed-loop stabilization algorithm. It
is equipped with an Xsens Inertial Measurement Unit (IMU), an Intel
NUC on-board computer, and a Sony PS Eye Camera. Dynamixel MX106 Servo motors are used for actuation. We use Histograms of Oriented
Gradients (HOGs) for object-detection, and Monte-Carlo Localization to
determine the relative position and orientation of the robot within the
field. The optimal path to be followed is computed using a fast geometrical approach.
Keywords: AcYut, BITS Pilani, RoboCup, Humanoid
This academic paper features our DYNAMIXEL MX-106 all-in-one smart actuators
All credit goes to: Vikram Nitin, Archit Jain, Sarvesh Srinivasan, Anuvind Bhat, Dhaivata Pandya, Abhinav Ramachandran, Aditya Vasudevan, Lakshmi Teja, and Vignesh Nagarajan from the:
Centre for Robotics and Intelligent Systems
Birla Institute of Technology and Science, Pilani,
Rajasthan - 333031, India