Tech United Eindhoven RoboCup Adult Size Humanoid Team Description 2013

This document presents the 2013 Tech United Eindhoven adult size humanoid robot team from The Netherlands. In this descrip- tion paper we present the model, parameter estimation and simulator of our humanoid robot TUlip. We introduce the walking gait and contribute a feedback controller with feedforward dynamics compensation and it- erative learning control. We describe the vision system, localization and world model, which are used during the humanoid robot soccer games at the RoboCup 2013 in Eindhoven, the Netherlands. Finally, we contribute a new simulator of TUlip including a RoboCup scenario implemented as Robot Operating System (ROS) package in Gazebo.

[1]  Martijn Wisse,et al.  System overview of bipedal robots Flame and TUlip: Tailor-made for Limit Cycle Walking , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[2]  Henk Nijmeijer,et al.  Balance of humanoid robots by proper foot placement , 2012 .

[3]  S. Islam,et al.  Adaptive iterative learning control for robot manipulators : Experimental results , 2006 .

[4]  Henk Nijmeijer,et al.  Qualitative validation of humanoid robot models through balance recovery side-stepping experiments , 2013, 2013 IEEE International Conference on Robotics and Automation.

[5]  Henk Nijmeijer,et al.  On the Stability of Bipedal Walking , 2010, SIMPAR.

[6]  Henk Nijmeijer,et al.  Foot placement for planar bipeds with point feet , 2012, 2012 IEEE International Conference on Robotics and Automation.

[7]  Henk Nijmeijer,et al.  Parameter identification of robotic systems with series elastic actuators , 2010 .

[8]  G. Oriolo,et al.  Robotics: Modelling, Planning and Control , 2008 .

[9]  Johannes F. Broenink,et al.  Simulation, Modeling, and Programming for Autonomous Robots , 2014, Lecture Notes in Computer Science.

[10]  Kazuhito Yokoi,et al.  Biped walking stabilization based on linear inverted pendulum tracking , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[11]  Henk Nijmeijer,et al.  Dutch Robotics 2011 Adult-Size Team Description , 2010 .