Abstract
We describe the technologies of our autonomous soccer humanoid robot system that won the RoboCup2022 Humanoid KidSize League. For RoboCup2022, we developed both hardware and software. We developed a new hardware SUSTAINA-OP. We aimed to make it easier to build, harder to break, and easier to maintain than our previous robot. SUSTAINA-OP is an open hardware platform. As the control circuit, we selected a computer with higher processing power for deep learning. We also developed its software. In terms of image processing, the new system uses deep learning for all object detection. In addition, for the development of action decision-making, we built a system to visualize the robot’s states and solved many problems. Furthermore, kicking forward at an angle action is added as a new tactical action. In RoboCup2022, even when the robots were facing each other with the ball between them, by this action the robot succeeded in getting the ball out in the direction of the opponent’s goal.
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Hayashibara, Y. et al. (2023). RoboCup2022 KidSize League Winner CIT Brains: Open Platform Hardware SUSTAINA-OP and Software. In: Eguchi, A., Lau, N., Paetzel-Prüsmann, M., Wanichanon, T. (eds) RoboCup 2022: Robot World Cup XXV. RoboCup 2022. Lecture Notes in Computer Science(), vol 13561. Springer, Cham. https://doi.org/10.1007/978-3-031-28469-4_18
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DOI: https://doi.org/10.1007/978-3-031-28469-4_18
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