in this paper we introduce an improvement in the path planning algorithm for the humanoid soccer playing robot which uses ferguson splines and pso (particle swarm optimization). the objective of the algorithm is to find a path through other playing robots to the ball, which should be as short as possible and also safe enough. ferguson splines create preliminary paths using random generated para...

finding an optimal path for a robot in a soccer field involves different parameters such as the positions of the robot, positions of the obstacles, etc. due to simplicity and smoothness of ferguson spline, it has been employed for path planning between arbitrary points on the field in many research teams. in order to optimize the parameters of ferguson spline some evolutionary or intelligent al...

In this paper we introduce an improvement in the path planning algorithm for the humanoid soccer playing robot which uses Ferguson splines and PSO (Particle Swarm Optimization). The objective of the algorithm is to find a path through other playing robots to the ball, which should be as short as possible and also safe enough. Ferguson splines create preliminary paths using random generated para...

In this paper, we describe the soccer playing agent developed by our team UT Austin Villa to participate in the RoboCup 3D simulation soccer competition held in Atlanta, U.S.A., in July 2007. The 2007 competition saw the introduction of a humanoid robot in the 3D simulation league. We present an overview of this new version of the simulation league, followed by a description of our approaches i...

This paper provides a brief description of Robo-Erectus Senior (RESr) AdultSize soccer playing humanoid robot developed at Advanced Robotics and Intelligent Control Centre of Singapore Polytechnic. We are currently in the stage of building a new hardware for this year competition. The new robot, RESr Bv-MkI will be used as the platform for competing in RoboCup humanoid league, and for our ongoi...

Over the past few years, soccer-playing humanoid robots advanced significantly. Elementary skills, such as bipedal walking, visual perception, and collision avoidance have matured enough to allow for dynamic and exciting games. In this paper, the three winning Humanoid League teams from the KidSize, TeenSize, and AdultSize class present their soccer systems. The KidSize winner team DARwIn used ...

With advances in walking abilities of autonomous soccer playing humanoid robots, the world modeling and state estimation problem moves into focus, as only sufficiently accurate and robust modeling allows to leverage improved locomotion capabilities. A novel approach for dense grid-based obstacle mapping in dynamic environments with an additional application for automatic gaze control is present...

This paper provides a brief description of Robo-Erectus Senior III– a teen size soccer playing humanoid robot developed at Advanced Robotics and Intelligent Control Centre of Singapore Polytechnic. The mechanical and electrical specifications of the robot are described. This paper also covers the vision processing, locomotion control, state-driven Monte Carlo localization and force/torque senso...

In this paper, humanoid gait generation is formulated as a multi-objective optimization problem with multiconstraint based on probability distribution models. Under this framework, an estimation of distribution algorithm (EDA) based gait optimization approach has been developed to speed up searching in high dimensional coupling space constructed by the permutation of optimization parameters to ...