Qualification material for

HuroEvolution AD (Adult Size)

Team	HuroEvolution AD (Adult Size) http://mrl.wikidot.com/
Contact	Chung-Hsien Kuo chkuo@mail.ntust.edu.tw
Postal address	Medical Robotics Laboratory, Department of Electrical Engineering, No.43, Sec. 4, Keelung Rd., Da’an Dist., Taipei 106, Taiwan (R.O.C.)
Video	https://www.youtube.com/watch?v=QJ0nQJ3oZ6w
Team description paper	HuroEvolution_AD_Humanoid_AdultSize_2015_TDP.pdf Title: HuroEvolutionAD Humanoid Robot for RoboCup 2015 Humanoid League Authors: Chung-Hsien Kuo, Chen-Huan Feng, Chen-Yun Kuo and Yi-Tseng Lin Abstract: HuroEvolutionAD is an adult size humanoid robot that was made in National Taiwan University of Science and Technology. In this paper an adult-size humanoid robot, named HuroEvolution, is developed for the purpose of participating in the RoboCup soccer gamers. The HuroEvolution is 146 cm in height and 16.3 Kgs in weight, and it is simply configured with 18 degrees of freedom, where 10 degrees of freedoms are used for two lower limbs, two degree of freedom is used for the head camera, two 6 degrees of freedom arms are used for mataining the balance when the push recovery is applied. Each leg is designed as a parallel mechanism structure to reduce the backlash effects of gear motors, as well as to reduce the uses of gear motors. The HuroEvolution is capable of omni-walking with respect to different locomotion parameters. Moreover, a specialized turning locomotion is also generated to change the robot’s heading based on a limited degrees of freedom of the leg structure. The image recognition and localization approaches are also applied for navigating the HuroEvolution to finish the match in competitions
Robot specifications	HuroEvolution_AD_Humanoid_AdultSize_2015_Specs.pdf

If you encounter any technical problems, please contact dseifert@inf.fu-berlin.de

If you have questions regarding the application, please contact the Humanoid League Technical Committee