Darmstadt Dribblers 2005: Humanoid Robot

Abstract

This paper describes the hardware and software design of the two hu- manoid robot systems of the Darmstadt Dribblers. The robots are used as a vehi- cle for research in control of locomotion and behavior of humanoid robots with many degrees of freedom and many actuated joints. The Humanoid League of RoboCup provides an ideal testbed for such aspects of dynamics in motion and autonomous behavior as the problem of generating and maintaining statically or dynamically stable bipedal locomotion is predominant for all types of motions during a soccer game. A new modular software architecture has been developed for efficient and effective implementation and test of modules for sensing, plan- ning, behavior, and actions.