Qualification material for

HuroEvolutionTN (Teen Size)

Team	HuroEvolutionTN (Teen Size) http://mrl.wikidot.com/robocup
Contact	Chung-Hsien Kuo chkuo@mail.ntust.edu.tw
Postal address	No.43, Sec. 4, Keelung Rd., Da-an Dist., Taipei 106, Taiwan
Video	https://www.youtube.com/watch?v=Ly9JJAlNHa8&feature=youtu.be
Team description paper	HuroEvolutionTN_Humanoid_TeenSize_2016_TDP.pdf Title: Team Description Paper: HuroEvolutionTN Humanoid Robot for RoboCup 2016 Humanoid League Authors: Chung-Hsien Kuo, Yi-Cheng Chen, An-Hung Chang, Ming-Liang Gao and Po-Cheng Huang Abstract: HuroEvolutionTN is a teen size humanoid robot that was made at National Taiwan University of Science and Technology. In this paper a teen-size humanoid robot, named HuroEvolutionTN, is developed for the purpose of participating in the RoboCup soccer games. The HuroEvolution is 95 centimeter in height and 12 kilogram in weight, and it is simply configured with 21 degrees of freedom, where 12 degrees of freedom are used for two lower limbs, 6 degrees of freedom are used for two arms, two degrees of freedom are used for the head camera, and one degree of freedom is used for the waist. 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 HuroEvolutionTN 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 HuroEvolutionTN to finish the match in competitions.
Robot specifications	HuroEvolutionTN_Humanoid_TeenSize_2016_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