Robocup Motion Liran Halak Ori Haluba. Specs: HR-OS5 Humanoid Research Robot.

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Presentation transcript:

Robocup Motion Liran Halak Ori Haluba

Specs: HR-OS5 Humanoid Research Robot

Specs: Number of degrees of freedom and type of motors on each kinematic chain of the robot – The HR-OS5 Humanoid Research Robot uses the following Dynamixel Servos: 12x MX-106T Dynamixel Actuator 6x MX-64T Dynamixel Actuator 2x MX-28T Dynamixel Actuator Type of sensors used (incl. type of camera(s)) – 3-axis gyroscope 3- axis accelerometer for posture estimation and balancing. A camera (Sony ICX424 – 0.3 MP, 84 FPS, resolution 648x488) Microphones in the head. Computing unit(s) – Intel NUC D54250WYB SBC, uses Intel Core i5-4250U (Haswell 4 th generation) Ubuntu LTS Operating System Subcontroller - Arbotix-Pro/CM-730 ARM subcontroller

Motion Our main goal until now was to get the robot ready for the Capability Demo video, that was part of our qualification requirements for the 2016 Robocup KSL (Kid Size League) in Germany. Our focus was the motion part of the robot, mainly: Walking – Improving existing walking capabilities for more balance and speed Kicking the ball – Creating a stable kick Standing up after falling on back\front Goalkeeper saving the ball Demo video: