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Erschienen in:
2017 | OriginalPaper | Buchkapitel
RoboCup 2016 Best Humanoid Award Winner Team Baset Adult-Size
verfasst von : Mojtaba Hosseini, Vahid Mohammadi, Farhad Jafari, Esfandiar Bamdad
Erschienen in: RoboCup 2016: Robot World Cup XX
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Abstract
This document introduces the team Baset as the champion of Humanoid adult-size league in RoboCup 2016 and describes the hardware, software and electrical design of Baset adult-size robot platform which is designed based on previous achievements of team Baset Adult-Size [1] and Baset Teen-Size [2] robots. Some methods have been explained to adapt to the changes in the rules of RoboCup 2016 and win the adult-size league, including acceleration based walk engine with smooth and fast strides, soft jump motion, perception of real soccer ball, particle filter based localization, path planning, ball handling and fast trajectory using Gaussian filters, a behavior system which decreases the time of scoring a goal considerably, and the changes in the hardware which results in more stable movements of the robot.