Three humanoid soccer platforms: comparison and synthesis

Authors:
Shivaram Kalyanakrishnan;Todd Hester;Michael Quinlan;Yinon Bentor;Peter Stone
Affiliations:
Department of Computer Sciences, The University of Texas at Austin;Department of Computer Sciences, The University of Texas at Austin;Department of Computer Sciences, The University of Texas at Austin;Department of Computer Sciences, The University of Texas at Austin;Department of Computer Sciences, The University of Texas at Austin
Venue:
RoboCup 2009
Year:
2010

Citing 11
Cited 2

Passive dynamic walking

International Journal of Robotics Research
Numerical recipes in C (2nd ed.): the art of scientific computing

Numerical recipes in C (2nd ed.): the art of scientific computing
RoboCup: The Robot World Cup Initiative

AGENTS '97 Proceedings of the first international conference on Autonomous agents
Exploiting inherent robustness and natural dynamics in the control of bipedal walking robots

Exploiting inherent robustness and natural dynamics in the control of bipedal walking robots
Next generation modeling III - agents: Spades --- a distributed agent simulation environment with software-in-the-loop execution

Proceedings of the 35th conference on Winter simulation: driving innovation
SIMBICON: simple biped locomotion control

ACM SIGGRAPH 2007 papers
Biped robot design powered by antagonistic pneumatic actuators for multi-modal locomotion

Robotics and Autonomous Systems
3D2Real: Simulation League Finals in Real Robots

RoboCup 2006: Robot Soccer World Cup X
Automatic Parameter Optimization for a Dynamic Robot Simulation

RoboCup 2008: Robot Soccer World Cup XII
Machine learning for fast quadrupedal locomotion

AAAI'04 Proceedings of the 19th national conference on Artifical intelligence
Extensions to object recognition in the four-legged league

RoboCup 2004

On progress in RoboCup: the simulation league showcase

RoboCup 2010
On optimizing interdependent skills: a case study in simulated 3D humanoid robot soccer

The 10th International Conference on Autonomous Agents and Multiagent Systems - Volume 2

Quantified Score

Hi-index	0.00

Visualization

Abstract

In this article, we provide an overview of three humanoid soccer platforms currently in use at RoboCup: 3D simulation, the humanoid Standard Platform League (SPL), and the Webots-based simulator released with the SPL. Although these platforms trace different historical roots, today they share the same robot model, the Aldebaran Nao. Consequently, they face a similar set of challenges, primary among which is the need to develop reliable and robust bipedal locomotion. In this paper, we compare and contrast these platforms, drawing on the experiences of our team, UT Austin Villa, in developing agents for each of them. We identify specific roles for these three platforms in advancing the overarching goals of RoboCup.