The University of Pennsylvania Robocup 2004 legged soccer team

Abstract

Abstract. This paper presents the software design for a team of soc-cer playing robots developed at the Univ. of Pennsylvania for the 2004 Robocup competition. The software was a port and slight modification from the 2003 competition code. Lower level sensory and motor functions were first prototyped in Matlab. High level behaviors and team coordina-tion were implemented using an embedded Perl interpreter. The robots’ walk parameters were optimized using a hill climbing routine. These de-velopments allowed the development of the team that ultimately resulted in a fourth place finish at the international competition. 1