Playing soccer with legged robots

Sony has provided a remarkable platform for research and development in robotic agents, namely fully autonomous legged robots. In this paper, we describe our work using Sony's legged robots to participate at the RoboCup'98 legged robot demonstration and competition. Robotic soccer represents a very challenging environment for research into systems with multiple robots that need to achieve concrete objectives, particularly in the presence of an adversary. Furthermore RoboCup'98 offers an excellent opportunity for robot entertainment. We introduce the RoboCup context and briefly present Sony's legged robot. We developed a vision-based navigation and a Bayesian localization algorithm. Team strategy is achieved through pre-defined behaviors and learning by instruction.

Authors

• Manuela Veloso
• William T. B. Uther
• Masahiro Fujita 0002
• Minoru Asada
• Hiroaki Kitano

Keywords

• Legged locomotion
• Robot vision systems
• Hardware
• Orbital robotics
• Robot sensing systems
• Laboratories
• Concrete
• Navigation
• Adaptive systems
• Computer science
• Legged Robots
• Local Algorithm
• Degrees Of Freedom
• Supervised Learning
• Autonomic System
• State Space
• Values Table
• Set Of Rules
• Sensory Information
• Color Space
• Field Size
• Probability Matrix
• Software Module
• Real Robot
• Global Vision
• Real-time Tasks
• Dead Reckoning
• Hardware Modifications
• Hardware Modules
• State Si
• Osaka University
• Quadruped Robot
• Transition Probabilities
• Representation Capability