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Darmstadt Dribblers    

DD2007 Heiner, Lilly and Jan

Height: 55 cm
Weight: 3.3 kg
Degrees of Freedom: 21 in total with
  • 6 in each leg
  • 3 in each arm
  • 1 in waist
  • 2 in neck
  • 21 joint angle encoders
  • 2 cameras
  • 3 axis gyroscope
  • 3 axis accelerometer
Processor: AMD Geode LX800, 500 MHz
Operating system: Windows CE 5.0
Microcontroller: Renesas SH2/7145, 50 MHz
Network: wireless LAN, LAN
Power supply: onboard batteries

The robots Bruno and Jan are based on the equipment of the HR18 humanoid robot motion platform developed by the Hajime Research Institute in Osaka/Japan with onboard computing and vision. They are in use since 12/2005 at the Darmstadt Dribblers' lab and are continuously improved in cooperation with Hajime Sakamoto. In this period the initial design of the robots was improved in several steps. To reduce the robots' weight, 3 servos were removed for the 2006 competitions. In 2007 the computational power of the robots was improved greatly by replacing the initial PDA computer with an embedded PC104 board.
During their participation at RoboCup worldchampionships the robots scored 56 goals (27 in 2006, 29 in 2007). One of the robots was the first robot to score a goal using a back heel kick during a competition (Penalty-Kick competition, June 14 2006, video available as wmv and mpg).
The robots have been used during the 2008 competitions, too. To fulfill the new rules, the chest cameras were removed, though. Since 2008 Linux is used as operating system - as on the new robots of type DD2008.