Qualification material for

HuroEvolutionAD (Adult Size)

Team	HuroEvolutionAD (Adult 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=tDotbIdImCg
Team description paper	HuroEvolutionAD_Humanoid_AdultSize_2016_TDP.pdf Title: Team Description Paper: HuroEvolutionAD Humanoid Robot for RoboCup 2014 Humanoid League Authors: Chung-Hsien Kuo, Yi-Tseng Lin, Yu-Siang Wang and Chia-Yi Hu, Chen-Yun Kuo, Wei-Di Hsu 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 games. The HuroEvolution is 146 cm in height and 15Kg in weight, and it is simply configured with 13 degrees of freedom, where 10 degrees of freedoms are used for two lower limbs, two degree of freedom is used for the head camera, 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 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	HuroEvolutionAD_Humanoid_AdultSize_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