System design and local optimization of a small humanoid soccer robot MOS-7
ZHANG Jiwen, LIU Li, CHEN Ken
Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipments and Control, State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China
Abstract：Small humanoid soccer robots can be used as inexpensive platforms to improve artificial intelligence and robotic systems. A new generation soccer robot, MOS-7, was developed with a modified structure, control system and software. The spatial arrangement of the lower limbs and trunk was optimized by changing the degree of freedom (DOF) configuration of its hip and improving the connections for the hip actuators to enhance the mechanical reliability. The decision-making and control tasks were arranged according to their real-time needs and running speed.The image capture system was optimized in 4 dimensions:resolution, accessible frame rate, reliablity and complexity. The artificial intelligence was improved by introducing novel particle decision-making abilities. The MOS-7 system is then a small humanoid platform that uses limited resources in an integrated and optimized mechanical-electronic system.
张继文, 刘莉, 陈恳. 小型仿人足球机器人MOS-7的系统设计及局部优化[J]. 清华大学学报（自然科学版）, 2016, 56(8): 811-817.
ZHANG Jiwen, LIU Li, CHEN Ken. System design and local optimization of a small humanoid soccer robot MOS-7. Journal of Tsinghua University(Science and Technology), 2016, 56(8): 811-817.
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