CIT Brains KidSize Robot: RoboCup 2014 Best Humanoid Award Winner

摘要

In this paper, we describe the system design of the robots developed by our Team CIT Brains for the RoboCup soccer humanoid KidSize league. We have been participating in the Humanoid League for eight years. Two years ago, we redesigned the system to put a large weight on maintainability and usability. In RoboCup 2014, we won the first prizes of 4on4 soccer and technical challenge. Consequently, we were awarded the Louis Vuitton Humanoid Cup. The system we developed has high mobility, well-designed control system, position estimation by a monocular camera, user-friendly interface and a simulator. The robot can walk speedily and robustly. It also has a feedback system with a gyro sensor to prevent falls. It detects positions of landmarks by color-based image processing. A particle filter is employed to localize the robot in the soccer field fusing the motion model and landmark observation.