FIRA HuroSot / RoboCup Humanoid League KidSize

This page describes the technology for building a fully autonomous humanoid robot with onboard vision system that is capable of playing robot football. The robot described is being build in the University of Plymouth,U.K.,which is part of the FIRA U.K. Robot Football Team. The robot is based on a Bioloid Comprehensive Kit from Robotis. Currently robot's brain is a HP iPAQ 6340 PDA Pocket PC, running Windows Mobile 2003. The PDA has a serial RS232 cable connection to the Bioloid controller. An external Camera is attached to the PDA via the SD-Card slot. We are currently using a Spectec SDC-003A camera. Spectec was so kind to provide us with the SDK for this camera. The SDK works with Windows Mobile 2003 and Windows Mobile 5. The SDK is able to deliver a picture in YUV or RGB format. The vision system on the PDA can recognise similar coloured areas, and therefore identify ball and goal. The image seqmentation technique used here is stack based region growing. Unfortunately we can not publish the full source-code for the system at this point, since permission from the manufacture Spectec must be obtained. Please e-mail Joerg C. Wolf for further information. The onboard software to play back motions in a CM-5 can be obtained here: Download BL Version 0.12

Plymouth Humanoid Mk1 in San Francisco 2007

Publications on Humanoid Robotics

Joerg Christian Wolf, Phil Hall, Paul Robinson, Phil Culverhouse
"Bioloid based Humanoid Soccer Robot Design"
in the Proceedings of the Second Workshop on Humanoid Soccer Robots @ 2007 IEEE-RAS International Conference on Humanoid Robots, Pittsburgh (USA), November 29, 2007    Download PDF    Poster