UChile Kiltros 2008 Team Description Paper

摘要

Our robotics group has teams in three leagues: Humanoid, Standard Platform League (SPL), and @Home. Taking advantage of this, we want to contribute to the transfer of relevant developments between the different RoboCup leagues. This year our new developments for the two-legged SPL include: (i) a new methodology for designing fall sequences with low impact in the robot joints, (ii) the proposition of new methodologies to be used in the vision system of our robots (task oriented active vision and context-based perception), (iii) the development of an omnidirectional gait for the Nao humanoid robots, and (iv) the development of an automated referee for the league, which uses a completely autonomous service robot as referee. In addition, a large amount of our efforts have been dedicated to the software adaptation of our control library, originally designed for AIBO robots, to the new Nao humanoid robots. Furthermore, we have depeloped a new robot control library that is platform independent.