Behaviors design for vision-based humanoid robot

A vision-based humanoid robot and some behaviors are designed and implemented for HuroCup. HuroCup is one league of FIRA RoboWorld Cup. The competition events of Marathon and Penalty Kick are described and their corresponding behaviors are proposed in this paper. A humanoid robot with 23 DOFs (degrees of freedom) is designed so that it can do some human-like motions. A webcam is installed in the humanoid robot to capture the environment image so that it is a vision-based humanoid robot. A board named RoBoard with an x86 processor is installed in the humanoid robot to be its control board, which is used to capture image, process image, make decision, and control motions for the robot. Some experimental results are presented to illustrate the proposed behaviors can let the implemented robot attend the competitions successfully in the competition field.