Qualification material for

AcYut (Teen Size (regular+drop-in))

Team	AcYut (Teen Size (regular+drop-in)) http://www.acyut.com
Contact	Vikram Nitin vikram@acyut.com
Postal address	Centre for Robotics and Intelligent Systems, BITS Pilani, Pilani, Rajasthan - 333031, India
Video	https://youtu.be/YA9RAHEG6cg
Team description paper	AcYut_Humanoid_TeenSize_regular_drop_in_2018_TDP.pdf Title: Team AcYut Team Description Paper 2018 Authors: Vikram Nitin, Archit Jain, Sarvesh Srinivasan, Anuvind Bhat, Dhaivata Pandya, Abhinav Ramachandran, Aditya Vasudevan, Lakshmi Teja, Vignesh Nagarajan Abstract: This paper describes the humanoid robots which we, Team AcYut, plan to use for the RoboCup Humanoid Teen-size Soccer competition. AcYut uses Preview Control of the Zero Moment Point (ZMP) for walking pattern generation with a closed-loop stabilization algorithm. It is equipped with an Xsens Inertial Measurement Unit (IMU), an Intel NUC on-board computer, and a Sony PS Eye Camera. Dynamixel MX-106 Servo motors are used for actuation. We use Histograms of Oriented Gradients (HOGs) for object-detection, and Monte-Carlo Localization to determine the relative position and orientation of the robot within the field. The optimal path to be followed is computed using a fast geometrical approach.
Robot specifications	AcYut_Humanoid_TeenSize_regular_drop_in_2018_Specs.pdf

If you encounter any technical problems, please contact farazi@ais.uni-bonn.de

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