Humanoid Robots

This pagepresents the implementation details developed to construct the Halcones U.V. humanoid robot team. The team consists of three humanoid robots. Each robot was provided with three capabilities: basic vision, body stabilization and tilt detection. A pan-tilt electromechanical system was designed to operate as the robot’s neck. The body of the robot is controlled from a micro processor located in the camera. Operation of each robot is based on master-slave processor architecture. The whole robot’s control was implemented as a finite state machine. Each of the states were defined as actions that the robot must perform, such as walking, turning, lifting, or kicking. The robot team was tested in the robocup tournament.


For the robot to play soccer as a person does it needs to able to locate the ball inside the field, go to him and score a goal. The rolling, visual recognition, kicking the ball are some of the tasks that needs to be solved.

Imagen1.jpg Robonova 1


Locomotion is performed by the robot Robonova-1, showed in the figure 1, which has 16 servo motors (actuators), an ATMega 128 processor, MR-C3024 card with ports for up to 24 servo motors and special-purpose ports. The robot’s movements were programmed into the software RoboBasic.

The tilt and stabilization is controlled by the sensor sen-00741 SparkFun, through some ports card of the robot Robonova-1. This sensor is showed in the figure 2. The values of this sensor are obtained and interpreted by the processor of the robot.

Imagen2.jpg Imagen3.jpg
Imagen4.jpg Imagen5.jpg

I want a Raspberry Pi for this project, so i can use it on the robot's for the robot's control system.


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