TheDevelopmentofAutonomousHumanoidSoccerRobot

Teknik

Bakhtiar Alldino Ardi Sumbodo¹  Muhammad Faris²  Hadha Afrisal³  Munadi Munadi⁴ 

[1] Departemen Ilmu Komputer dan Elektronika, Universitas Gadjah Mada;Departemen Teknik Elektro dan Teknologi Informasi, Universitas Gadjah Mada;Departemen Teknik Elektro, Fakultas Teknik, Universitas Diponegoro;Departemen Teknik Mesin, Fakultas Teknik, Universitas Diponegoro;

关键词: robot;    humanoid;    sepakbola;    computer vision;    pengenalan objek;   

DOI  :  10.14710/teknik.v39i3.22916

来源: DOAJ

【 摘 要 】

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.

【 授权许可】

Unknown