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Published in:
2013 | OriginalPaper | Chapter
Team CHARLI: RoboCup 2012 Humanoid AdultSize League Winner
Authors : Coleman Knabe, Mike Hopkins, Dennis W. Hong
Published in: RoboCup 2012: Robot Soccer World Cup XVI
Publisher: Springer Berlin Heidelberg
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Autonomous soccer-playing humanoid robots have advanced significantly in the past few years. Skill sets elementary to humans such as omnidirectional bipedal walking, path planning, and gameplay strategy have matured enough to allow for dynamic and exciting games. In this paper team CHARLI, the two-time RoboCup Humanoid AdultSize League winner, describes the design and fabrication of essential components such as the spine and mechanical structure, then overviews the increase in performance resulting from recent mechanical upgrades. Finally, we detail the custom walking controller and gameplay module changes responsible for the outstanding performance of our self-constructed lightweight full-sized humanoid platform, CHARLI-2.